SROS 2 0.8.1 (after CVE-2019-19625 is mitigated) leaks ROS 2 node-related information regardless of the rtps_protection_kind configuration. (SROS2 provides the tools to generate and distribute keys for Robot Operating System 2 and uses the underlying security plugins of DDS from ROS 2.)
https://ros-swg.github.io/ROSCon19_Security_Workshop/
https://github.com/ros2/sros2/issues/172