This is basically a port for the authenticate function in roslibjs. It enables the example in rosauth to be performed on roslibpy, as well as fixes #86.

Following the example in rosauth, one would call authenticate() before calling run():

import roslibpy

auth = {'mac' : '19d9d2166799f1ffd6fee6379f957502aff8716bfebc8cc8b3bac57ade14441bb9678be89d0a7eec9c81291f854d754d7a4de2278bede56f162c2faeb468c68a',
    'client' : 'client',
    'dest' : 'dest',
    'rand' : 'rand',
    't' : 0,
    'level' : 'level',
    'end' : 0
}

client = roslibpy.Ros(host='localhost', port=9090)
client.authenticate(**auth) # need for authentication is specified here. ** is used to unpack the dictionary.
client.run()

# subscriber example.
listener = roslibpy.Topic(client, '/chatter', 'std_msgs/String')
listener.subscribe(lambda message: print('Heard talking: ' + message['data']))

try:
    while True:
        pass
except KeyboardInterrupt:
    client.terminate()

On the rosbridge_server terminal one would see:

2023-08-29 13:55:43+0000 [-] [INFO] [1693317343.325643]: Client connected.  1 clients total.
2023-08-29 13:55:43+0000 [-] [INFO] [1693317343.326674]: Awaiting proper authentication...
2023-08-29 13:55:43+0000 [-] [INFO] [1693317343.329715]: Client 1 has authenticated.

I am unsure what tests and documentation to include for this change.

What type of change is this?

• Bug fix in a backwards-compatible manner.
• New feature in a backwards-compatible manner.
• Breaking change: bug fix or new feature that involve incompatible API changes.
• Other (e.g. doc update, configuration, etc)

Checklist

Put an x in the boxes that apply. You can also fill these out after creating the PR. If you're unsure about any of them, don't hesitate to ask. We're here to help! This is simply a reminder of what we are going to look for before merging your code.

• I added a line to the CHANGELOG.rst file in the Unreleased section under the most fitting heading (e.g. Added, Changed, Removed).
• I ran all tests on my computer and it's all green (i.e. invoke test).
• I ran lint on my computer and there are no errors (i.e. invoke check).
• I have added tests that prove my fix is effective or that my feature works.
• I have added necessary documentation (if appropriate)