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I think what you're missing here is first starting sroscore in training mode so that all the various topics/services and parameters can be learned during a bootstrap session i.e:
sroscore --policy_mode train

You can then sroslaunch the other nodes, then eventually take it all down and clean out the keystore and start again with out train mode when you want to enforce the new access control structure, and take the keyserver offline after that when you don't what to give out more keys.

From the SROS demo I did at ROSCon16, you can find the walkthrough I did to bootstrap my keystore. You can rewatch/copy just the walk through commands in detail here:
https://asciinema.org/a/88519

Sorry for not yet writing out a tutorial for it, much of it is still changing, but the sros CLI and necessary environment is mostly documented at:
http://wiki.ros.org/SROS/CommandLineTools
http://wiki.ros.org/SROS/EnvironmentVariables
for sroscore in particular: http://wiki.ros.org/SROS/sroscore

I'm currently working on porting many of the ideas and lessons learned from SRSO1 to SROS2, but feel free to any followup questions.