Cannot execute security in the keys saved in a softhsm user.

[ghost]

Bug report

Hello,
I am trying to save a security key.pem from a security enclave in in a softHSM. I am working with environmental variables (not passing enclaves by argument), for example, (export ROS_SECURITY_ENCLAVE_OVERRIDE=/gazebo).
I create a specific token and then I make an import of the key.pem to the softHSM. Then, I delete the key.pem and then I add a symbolic link in the file key.p11 in order to get known where the key.pem is saved in the softhsm.
When I execute the specific simulation, the following errors appears:

[robot_state_publisher-3] [INFO] [1670193287.558653675] [rcl]: Found security directory: /home/user/security_ws/turtlebot_keystore/enclaves/gazebo
[robot_state_publisher-3]
[robot_state_publisher-3] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[robot_state_publisher-3] This error state is being overwritten:
[robot_state_publisher-3]
[robot_state_publisher-3] 'couldn't find all security files!, at /vulcanexus_ws/packaging/src/eProsima/RMW-Fast-DDS/rmw_fastrtps_shared_cpp/src/participant.cpp:396, at ./src/rcl/node.c:263'
[robot_state_publisher-3]
[robot_state_publisher-3] with this new error message:
[robot_state_publisher-3]
[robot_state_publisher-3] 'rcl node's rmw handle is invalid, at ./src/rcl/node.c:415'
[robot_state_publisher-3]
[robot_state_publisher-3] rcutils_reset_error() should be called after error handling to avoid this.
[robot_state_publisher-3] <<<
[robot_state_publisher-3] [ERROR] [1670193287.562731377] [rcl]: Failed to fini publisher for node: 1
[robot_state_publisher-3] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[robot_state_publisher-3] what(): failed to initialize rcl node: rcl node's rmw handle is invalid, at ./src/rcl/node.c:415
[ERROR] [robot_state_publisher-3]: process has died [pid 28892, exit code -6, cmd '/opt/ros/humble/lib/robot_state_publisher/robot_state_publisher --ros-args -r __node:=robot_state_publisher --params-file /tmp/launch_params_ttmdd7ti'].
[spawn_entity.py-4] [INFO] [1670193288.527872715] [rcl]: Found security directory: /home/user/security_ws/turtlebot_keystore/enclaves/gazebo

Required Info:

• Operating System:
• Ubuntu 22.04
• Installation type:
  • sudo apt update
  • sudo apt install --yes --no-install-recommends vulcanexus-humble-tools vulcanexus-humble-simulation
• Version or commit hash:
  • ROS2 humble
• DDS implementation:
  • FastDDS with SROS2
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

   --init-token \
   --free \
   --label vulcanexus_gazebo \
   --pin VulcanexusGazebo \
   --so-pin VulcanexusGazebo

sudo softhsm2-util
--import /home/user/security_ws/turtlebot_keystore/enclaves/gazebo/key.pem
--token vulcanexus_gazebo
--label key
--pin VulcanexusGazebo
--id 123456789ABCDEF123456789ABCDEF
​

sudo rm -rf /home/user/security_ws/turtlebot_keystore/enclaves/gazebo/key.pem

GNUTLS_PIN=VulcanexusGazebo sudo p11tool
--provider /usr/lib/softhsm/libsofthsm2.so
--list-tokens
--login | grep "token=vulcanexus_gazebo" | awk '{print $2}' > /home/user/security_ws/turtlebot_keystore/enclaves/gazebo/key.p11

cd
source /opt/vulcanexus/humble/setup.bash
export FASTDDS_PKCS11_PIN=VulcanexusGazebo
export ROS_SECURITY_KEYSTORE=/home/user/security_ws/turtlebot_keystore
export ROS_SECURITY_ENABLE=true
export ROS_SECURITY_STRATEGY=Enforce
export TURTLEBOT3_MODEL=burger
export ROS_SECURITY_ENCLAVE_OVERRIDE=/gazebo
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

#### Expected behavior

Should appear the gazebo simulation without any errors.

#### Actual behavior

The gazebo turtlebot simulation does not open.

---- 
## Feature request

#### Feature description
The feature should allow to execute keys saved in other hardware.

Here you can find a .txt with the output obtained: 
[turtlebot3_output.txt](https://github.com/eProsima/rmw_fastrtps/files/10190523/turtlebot3_output.txt)