diff --git a/sros2/setup.py b/sros2/setup.py
index 29f6f3b1..98f0746d 100644
--- a/sros2/setup.py
+++ b/sros2/setup.py
@@ -66,7 +66,7 @@ def package_files(directory):
             ':CreatePermissionVerb',
             'generate_artifacts = sros2.verb.generate_artifacts:GenerateArtifactsVerb',
             # TODO(ivanpauno): Reactivate this after having a way to introspect
-            # security context names in rclpy.
+            # enclave names in rclpy.
             # Related with https://github.com/ros2/rclpy/issues/529.
             # 'generate_policy = sros2.verb.generate_policy:GeneratePolicyVerb',
             'list_keys = sros2.verb.list_keys:ListKeysVerb',
diff --git a/sros2/sros2/api/_artifact_generation.py b/sros2/sros2/api/_artifact_generation.py
index 85223e7c..5adef786 100644
--- a/sros2/sros2/api/_artifact_generation.py
+++ b/sros2/sros2/api/_artifact_generation.py
@@ -32,9 +32,9 @@ def generate_artifacts(keystore_path=None, identity_names=[], policy_files=[]):
             return False
     for policy_file in policy_files:
         policy_tree = load_policy(policy_file)
-        contexts_element = policy_tree.find('contexts')
-        for context in contexts_element:
-            identity_name = context.get('path')
+        enclaves_element = policy_tree.find('enclaves')
+        for enclave in enclaves_element:
+            identity_name = enclave.get('path')
             if identity_name not in identity_names:
                 if not _key.create_key(keystore_path, identity_name):
                     return False
diff --git a/sros2/sros2/api/_key.py b/sros2/sros2/api/_key.py
index 1bcea88d..3f984c0d 100644
--- a/sros2/sros2/api/_key.py
+++ b/sros2/sros2/api/_key.py
@@ -37,7 +37,7 @@ def create_key(keystore_path, identity):
     print("creating key for identity: '%s'" % identity)
 
     relative_path = os.path.normpath(identity.lstrip('/'))
-    key_dir = os.path.join(_keystore.get_keystore_context_dir(keystore_path), relative_path)
+    key_dir = os.path.join(_keystore.get_keystore_enclaves_dir(keystore_path), relative_path)
     os.makedirs(key_dir, exist_ok=True)
 
     # symlink the CA cert in there
@@ -51,7 +51,7 @@ def create_key(keystore_path, identity):
 
     # symlink the governance file in there
     keystore_governance_path = os.path.join(
-        _keystore.get_keystore_context_dir(keystore_path), 'governance.p7s')
+        _keystore.get_keystore_enclaves_dir(keystore_path), 'governance.p7s')
     dest_governance_path = os.path.join(key_dir, 'governance.p7s')
     relativepath = os.path.relpath(keystore_governance_path, key_dir)
     _utilities.create_symlink(src=relativepath, dst=dest_governance_path)
@@ -79,8 +79,8 @@ def create_key(keystore_path, identity):
     # later using a policy if desired
     policy_file_path = get_policy_default('policy.xml')
     policy_element = _policy.get_policy('/', policy_file_path)
-    context_element = policy_element.find('contexts/context')
-    context_element.attrib['path'] = identity
+    enclave_element = policy_element.find('enclaves/enclave')
+    enclave_element.attrib['path'] = identity
 
     permissions_path = os.path.join(key_dir, 'permissions.xml')
     _permission.create_permission_file(permissions_path, _utilities.domain_id(), policy_element)
@@ -99,19 +99,19 @@ def create_key(keystore_path, identity):
 
 
 def list_keys(keystore_path):
-    contexts_path = _keystore.get_keystore_context_dir(keystore_path)
+    enclaves_path = _keystore.get_keystore_enclaves_dir(keystore_path)
     if not os.path.isdir(keystore_path):
         raise FileNotFoundError(errno.ENOENT, os.strerror(errno.ENOENT), keystore_path)
-    if not os.path.isdir(contexts_path):
+    if not os.path.isdir(enclaves_path):
         return True
-    for name in os.listdir(contexts_path):
-        if os.path.isdir(os.path.join(contexts_path, name)):
+    for name in os.listdir(enclaves_path):
+        if os.path.isdir(os.path.join(enclaves_path, name)):
             print(name)
     return True
 
 
 def _is_key_name_valid(name):
-    # TODO(ivanpauno): Use validate_security_context_name when it's propagated to `rclpy`.
+    # TODO(ivanpauno): Use validate_enclave_name when it's propagated to `rclpy`.
     #   This is not to bad for the moment.
     #   Related with https://github.com/ros2/rclpy/issues/528.
     try:
diff --git a/sros2/sros2/api/_keystore.py b/sros2/sros2/api/_keystore.py
index 3f75176c..38f00556 100644
--- a/sros2/sros2/api/_keystore.py
+++ b/sros2/sros2/api/_keystore.py
@@ -24,7 +24,7 @@
 from . import _utilities
 
 
-_KS_CONTEXT = 'contexts'
+_KS_ENCLAVES = 'enclaves'
 _KS_PUBLIC = 'public'
 _KS_PRIVATE = 'private'
 _DEFAULT_COMMON_NAME = 'sros2testCA'
@@ -40,7 +40,7 @@ def create_keystore(keystore_path):
     os.makedirs(keystore_path, exist_ok=True)
     os.makedirs(os.path.join(keystore_path, _KS_PUBLIC), exist_ok=True)
     os.makedirs(os.path.join(keystore_path, _KS_PRIVATE), exist_ok=True)
-    os.makedirs(os.path.join(keystore_path, _KS_CONTEXT), exist_ok=True)
+    os.makedirs(os.path.join(keystore_path, _KS_ENCLAVES), exist_ok=True)
 
     keystore_ca_cert_path = os.path.join(keystore_path, _KS_PUBLIC, 'ca.cert.pem')
     keystore_ca_key_path = os.path.join(keystore_path, _KS_PRIVATE, 'ca.key.pem')
@@ -72,7 +72,7 @@ def create_keystore(keystore_path):
         print('found CA key and cert, not creating new ones!')
 
     # create governance file
-    gov_path = os.path.join(keystore_path, _KS_CONTEXT, 'governance.xml')
+    gov_path = os.path.join(keystore_path, _KS_ENCLAVES, 'governance.xml')
     if not os.path.isfile(gov_path):
         print('creating governance file: %s' % gov_path)
         _create_governance_file(gov_path, _utilities.domain_id())
@@ -80,7 +80,7 @@ def create_keystore(keystore_path):
         print('found governance file, not creating a new one!')
 
     # sign governance file
-    signed_gov_path = os.path.join(keystore_path, _KS_CONTEXT, 'governance.p7s')
+    signed_gov_path = os.path.join(keystore_path, _KS_ENCLAVES, 'governance.p7s')
     if not os.path.isfile(signed_gov_path):
         print('creating signed governance file: %s' % signed_gov_path)
         _utilities.create_smime_signed_file(
@@ -102,12 +102,12 @@ def is_valid_keystore(path):
         os.path.isfile(os.path.join(path, _KS_PUBLIC, 'identity_ca.cert.pem')) and
         os.path.isfile(os.path.join(path, _KS_PRIVATE, 'permissions_ca.key.pem')) and
         os.path.isfile(os.path.join(path, _KS_PRIVATE, 'identity_ca.key.pem')) and
-        os.path.isfile(os.path.join(path, _KS_CONTEXT, 'governance.p7s'))
+        os.path.isfile(os.path.join(path, _KS_ENCLAVES, 'governance.p7s'))
     )
 
 
-def get_keystore_context_dir(keystore_path: str) -> str:
-    return os.path.join(keystore_path, _KS_CONTEXT)
+def get_keystore_enclaves_dir(keystore_path: str) -> str:
+    return os.path.join(keystore_path, _KS_ENCLAVES)
 
 
 def get_keystore_public_dir(keystore_path: str) -> str:
diff --git a/sros2/sros2/api/_permission.py b/sros2/sros2/api/_permission.py
index 7e9007eb..acd1c38c 100644
--- a/sros2/sros2/api/_permission.py
+++ b/sros2/sros2/api/_permission.py
@@ -34,7 +34,7 @@ def create_permission(keystore_path, identity, policy_file_path):
 
 def create_permissions_from_policy_element(keystore_path, identity, policy_element):
     relative_path = os.path.normpath(identity.lstrip('/'))
-    key_dir = os.path.join(_keystore.get_keystore_context_dir(keystore_path), relative_path)
+    key_dir = os.path.join(_keystore.get_keystore_enclaves_dir(keystore_path), relative_path)
     print("creating permission file for identity: '%s'" % identity)
     permissions_path = os.path.join(key_dir, 'permissions.xml')
     create_permission_file(permissions_path, _utilities.domain_id(), policy_element)
diff --git a/sros2/sros2/api/_policy.py b/sros2/sros2/api/_policy.py
index 0caafe19..4986f825 100644
--- a/sros2/sros2/api/_policy.py
+++ b/sros2/sros2/api/_policy.py
@@ -23,12 +23,12 @@ def get_policy(name, policy_file_path):
 
 
 def get_policy_from_tree(name, policy_tree):
-    context_element = policy_tree.find(
-        path=f'contexts/context[@path="{name}"]')
-    if context_element is None:
-        raise RuntimeError(f'unable to find context "{name}"')
-    contexts_element = etree.Element('contexts')
-    contexts_element.append(context_element)
+    enclave_element = policy_tree.find(
+        path=f'enclaves/enclave[@path="{name}"]')
+    if enclave_element is None:
+        raise RuntimeError(f'unable to find enclave "{name}"')
+    enclaves_element = etree.Element('enclaves')
+    enclaves_element.append(enclave_element)
     policy_element = etree.Element('policy')
-    policy_element.append(contexts_element)
+    policy_element.append(enclaves_element)
     return policy_element
diff --git a/sros2/sros2/policy/defaults/policy.xml b/sros2/sros2/policy/defaults/policy.xml
index e1bbfa73..e1b159fb 100644
--- a/sros2/sros2/policy/defaults/policy.xml
+++ b/sros2/sros2/policy/defaults/policy.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <policy version="0.2.0"
   xmlns:xi="http://www.w3.org/2001/XInclude">
-  <contexts>
-    <context path="/">
+  <enclaves>
+    <enclave path="/">
       <profiles>
         <profile ns="/" node="default">
           <topics publish="ALLOW" subscribe="ALLOW">
@@ -16,6 +16,6 @@
           </actions>
         </profile>
       </profiles>
-    </context>
-  </contexts>
+    </enclave>
+  </enclaves>
 </policy>
diff --git a/sros2/sros2/policy/schemas/policy.xsd b/sros2/sros2/policy/schemas/policy.xsd
index 09a28acb..da0e7c8f 100644
--- a/sros2/sros2/policy/schemas/policy.xsd
+++ b/sros2/sros2/policy/schemas/policy.xsd
@@ -10,18 +10,18 @@
     <xs:element name="policy" type="Policy" />
     <xs:complexType name="Policy">
         <xs:sequence minOccurs="1" maxOccurs="1">
-            <xs:element name="contexts" type="Contexts" />
+            <xs:element name="enclaves" type="Enclaves" />
         </xs:sequence>
         <xs:attribute name="version" type="xs:string" use="required" fixed="0.2.0"/>
     </xs:complexType>
 
-    <xs:complexType name="Contexts">
+    <xs:complexType name="Enclaves">
         <xs:sequence minOccurs="1" maxOccurs="unbounded">
-            <xs:element name="context" type="Context" />
+            <xs:element name="enclave" type="Enclave" />
         </xs:sequence>
     </xs:complexType>
 
-    <xs:complexType name="Context">
+    <xs:complexType name="Enclave">
         <xs:sequence minOccurs="1" maxOccurs="unbounded">
             <xs:element name="profiles" type="Profiles" />
         </xs:sequence>
diff --git a/sros2/sros2/policy/templates/dds/permissions.xsl b/sros2/sros2/policy/templates/dds/permissions.xsl
index 2c87370a..a6287bfb 100644
--- a/sros2/sros2/policy/templates/dds/permissions.xsl
+++ b/sros2/sros2/policy/templates/dds/permissions.xsl
@@ -22,12 +22,12 @@
 
 <xsl:param name="allow_ros_discovery_topic" select="0"/>
 
-<xsl:template match="/policy/contexts">
+<xsl:template match="/policy/enclaves">
   <xsl:variable name="dds">
     <dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
     xsi:noNamespaceSchemaLocation="http://www.omg.org/spec/DDS-SECURITY/20170901/omg_shared_ca_permissions.xsd">
       <permissions>
-        <xsl:for-each select="context">
+        <xsl:for-each select="enclave">
           <xsl:variable name="common_name">
             <xsl:value-of select="@path"/>
           </xsl:variable>
diff --git a/sros2/sros2/verb/create_key.py b/sros2/sros2/verb/create_key.py
index d3491c08..60e9f662 100644
--- a/sros2/sros2/verb/create_key.py
+++ b/sros2/sros2/verb/create_key.py
@@ -28,7 +28,7 @@ class CreateKeyVerb(VerbExtension):
     def add_arguments(self, parser, cli_name):
         arg = parser.add_argument('ROOT', help='root path of keystore')
         arg.completer = DirectoriesCompleter()
-        parser.add_argument('NAME', help='key name, aka ROS security context name')
+        parser.add_argument('NAME', help='key name, aka ROS enclave name')
 
     def main(self, *, args):
         success = _key.create_key(args.ROOT, args.NAME)
diff --git a/sros2/sros2/verb/create_permission.py b/sros2/sros2/verb/create_permission.py
index 2f656d69..39b774b7 100644
--- a/sros2/sros2/verb/create_permission.py
+++ b/sros2/sros2/verb/create_permission.py
@@ -33,7 +33,7 @@ class CreatePermissionVerb(VerbExtension):
     def add_arguments(self, parser, cli_name):
         arg = parser.add_argument('ROOT', help='root path of keystore')
         arg.completer = DirectoriesCompleter()
-        parser.add_argument('NAME', help='key name, aka ROS security context name')
+        parser.add_argument('NAME', help='key name, aka ROS enclave name')
         arg = parser.add_argument(
             'POLICY_FILE_PATH', help='path of the policy xml file')
         arg.completer = FilesCompleter(
diff --git a/sros2/sros2/verb/generate_artifacts.py b/sros2/sros2/verb/generate_artifacts.py
index 912eadcf..59cfacf5 100644
--- a/sros2/sros2/verb/generate_artifacts.py
+++ b/sros2/sros2/verb/generate_artifacts.py
@@ -34,8 +34,8 @@ def add_arguments(self, parser, cli_name):
         arg = parser.add_argument('-k', '--keystore-root-path', help='root path of keystore')
         arg.completer = DirectoriesCompleter()
         parser.add_argument(
-            '-c', '--security-contexts', nargs='*', default=[],
-            help='list of identities, aka ROS security contexts names')
+            '-e', '--enclaves', nargs='*', default=[],
+            help='list of identities, aka ROS security enclave names')
         arg = parser.add_argument(
             '-p', '--policy-files', nargs='*', default=[],
             help='list of policy xml file paths')
@@ -45,7 +45,7 @@ def add_arguments(self, parser, cli_name):
     def main(self, *, args):
         try:
             success = _artifact_generation.generate_artifacts(
-                args.keystore_root_path, args.security_contexts, args.policy_files)
+                args.keystore_root_path, args.enclaves, args.policy_files)
         except FileNotFoundError as e:
             raise RuntimeError(str(e))
         return 0 if success else 1
diff --git a/sros2/test/policies/add_two_ints.policy.xml b/sros2/test/policies/add_two_ints.policy.xml
index 9969f4e2..d918beef 100644
--- a/sros2/test/policies/add_two_ints.policy.xml
+++ b/sros2/test/policies/add_two_ints.policy.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <policy version="0.2.0"
   xmlns:xi="http://www.w3.org/2001/XInclude">
-  <contexts>
-    <context path="/add_two_ints/add_two_ints_server">
+  <enclaves>
+    <enclave path="/add_two_ints/add_two_ints_server">
       <profiles>
         <profile ns="/" node="add_two_ints_server">
           <xi:include href="common/node.xml"
@@ -12,8 +12,8 @@
           </services>
         </profile>
       </profiles>
-    </context>
-    <context path="/add_two_ints/add_two_ints_client">
+    </enclave>
+    <enclave path="/add_two_ints/add_two_ints_client">
       <profiles>
         <profile ns="/" node="add_two_ints_client">
           <xi:include href="common/node.xml"
@@ -23,6 +23,6 @@
           </services>
         </profile>
       </profiles>
-    </context>
-  </contexts>
+    </enclave>
+  </enclaves>
 </policy>
diff --git a/sros2/test/policies/minimal_action.policy.xml b/sros2/test/policies/minimal_action.policy.xml
index 1d99f25e..bcc0ed5c 100644
--- a/sros2/test/policies/minimal_action.policy.xml
+++ b/sros2/test/policies/minimal_action.policy.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <policy version="0.2.0"
   xmlns:xi="http://www.w3.org/2001/XInclude">
-  <contexts>
-    <context path="/minimal_action/minimal_action_server">
+  <enclaves>
+    <enclave path="/minimal_action/minimal_action_server">
       <profiles>
         <profile ns="/" node="minimal_action_server">
           <xi:include href="common/node.xml"
@@ -12,8 +12,8 @@
           </actions>
         </profile>
       </profiles>
-    </context>
-    <context path="/minimal_action/minimal_action_client">
+    </enclave>
+    <enclave path="/minimal_action/minimal_action_client">
       <profiles>
         <profile ns="/" node="minimal_action_client">
           <xi:include href="common/node.xml"
@@ -23,6 +23,6 @@
           </actions>
         </profile>
       </profiles>
-    </context>
-  </contexts>
+    </enclave>
+  </enclaves>
 </policy>
diff --git a/sros2/test/policies/permissions/single_context/permissions.xml b/sros2/test/policies/permissions/single_context/permissions.xml
index 9bab954c..f17837bc 100644
--- a/sros2/test/policies/permissions/single_context/permissions.xml
+++ b/sros2/test/policies/permissions/single_context/permissions.xml
@@ -1,7 +1,7 @@
 <dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.omg.org/spec/DDS-SECURITY/20170901/omg_shared_ca_permissions.xsd">
   <permissions>
-    <grant name="/single_context">
-      <subject_name>CN=/single_context</subject_name>
+    <grant name="/single_enclave">
+      <subject_name>CN=/single_enclave</subject_name>
       <validity>
         <not_before>2013-10-26T00:00:00</not_before>
         <not_after>2023-10-26T22:45:30</not_after>
diff --git a/sros2/test/policies/sample.policy.xml b/sros2/test/policies/sample.policy.xml
index 22194b15..671a5d8f 100644
--- a/sros2/test/policies/sample.policy.xml
+++ b/sros2/test/policies/sample.policy.xml
@@ -1,14 +1,14 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <policy version="0.2.0"
   xmlns:xi="http://www.w3.org/2001/XInclude">
-  <contexts>
+  <enclaves>
     <xi:include href="talker_listener.policy.xml"
-      xpointer="xpointer(/policy/contexts/*)"/>
+      xpointer="xpointer(/policy/enclaves/*)"/>
     <xi:include href="add_two_ints.policy.xml"
-      xpointer="xpointer(/policy/contexts/*)"/>
+      xpointer="xpointer(/policy/enclaves/*)"/>
     <xi:include href="minimal_action.policy.xml"
-      xpointer="xpointer(/policy/contexts/*)"/>
-    <context path="/sample_policy/admin">
+      xpointer="xpointer(/policy/enclaves/*)"/>
+    <enclave path="/sample_policy/admin">
       <profiles>
         <profile ns="/" node="admin">
           <xi:include href="common/node.xml"
@@ -24,6 +24,6 @@
           </topics>
         </profile>
       </profiles>
-    </context>
-  </contexts>
+    </enclave>
+  </enclaves>
 </policy>
diff --git a/sros2/test/policies/single_context.policy.xml b/sros2/test/policies/single_context.policy.xml
index 19eeb8fa..55b88baa 100644
--- a/sros2/test/policies/single_context.policy.xml
+++ b/sros2/test/policies/single_context.policy.xml
@@ -1,16 +1,16 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <policy version="0.2.0"
   xmlns:xi="http://www.w3.org/2001/XInclude">
-  <contexts>
-    <context path="/single_context">
+  <enclaves>
+    <enclave path="/single_enclave">
       <profiles>
         <xi:include href="talker_listener.policy.xml"
-          xpointer="xpointer(/policy/contexts/context/profiles/*)"/>
+          xpointer="xpointer(/policy/enclaves/enclave/profiles/*)"/>
         <xi:include href="add_two_ints.policy.xml"
-          xpointer="xpointer(/policy/contexts/context/profiles/*)"/>
+          xpointer="xpointer(/policy/enclaves/enclave/profiles/*)"/>
         <xi:include href="minimal_action.policy.xml"
-          xpointer="xpointer(/policy/contexts/context/profiles/*)"/>
+          xpointer="xpointer(/policy/enclaves/enclave/profiles/*)"/>
       </profiles>
-    </context>
-  </contexts>
+    </enclave>
+  </enclaves>
 </policy>
diff --git a/sros2/test/policies/talker_listener.policy.xml b/sros2/test/policies/talker_listener.policy.xml
index de0b396f..5c61a8a6 100644
--- a/sros2/test/policies/talker_listener.policy.xml
+++ b/sros2/test/policies/talker_listener.policy.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <policy version="0.2.0"
   xmlns:xi="http://www.w3.org/2001/XInclude">
-  <contexts>
-    <context path="/talker_listener/talker">
+  <enclaves>
+    <enclave path="/talker_listener/talker">
       <profiles>
         <profile ns="/" node="talker">
           <xi:include href="common/node.xml"
@@ -12,8 +12,8 @@
           </topics>
         </profile>
       </profiles>
-    </context>
-    <context path="/talker_listener/listener">
+    </enclave>
+    <enclave path="/talker_listener/listener">
       <profiles>
         <profile ns="/" node="listener">
           <xi:include href="common/node.xml"
@@ -23,6 +23,6 @@
           </topics>
         </profile>
       </profiles>
-    </context>
-  </contexts>
+    </enclave>
+  </enclaves>
 </policy>
diff --git a/sros2/test/sros2/commands/security/verbs/test_create_key.py b/sros2/test/sros2/commands/security/verbs/test_create_key.py
index c93585fa..fe70116d 100644
--- a/sros2/test/sros2/commands/security/verbs/test_create_key.py
+++ b/sros2/test/sros2/commands/security/verbs/test_create_key.py
@@ -33,7 +33,7 @@
 
 # This fixture will run once for the entire module (as opposed to once per test)
 @pytest.fixture(scope='module')
-def security_context_keys_dir(tmpdir_factory):
+def enclave_keys_dir(tmpdir_factory):
     keystore_dir = Path(str(tmpdir_factory.mktemp('keystore')))
 
     # First, create the keystore
@@ -41,12 +41,12 @@ def security_context_keys_dir(tmpdir_factory):
 
     # Now using that keystore, create a keypair along with other files required by DDS
     assert cli.main(
-        argv=['security', 'create_key', str(keystore_dir), '/test_security_context']) == 0
-    security_context_dir = keystore_dir / 'contexts' / 'test_security_context'
-    assert security_context_dir.is_dir()
+        argv=['security', 'create_key', str(keystore_dir), '/test_enclave']) == 0
+    enclave_dir = keystore_dir / 'enclaves' / 'test_enclave'
+    assert enclave_dir.is_dir()
 
-    # Return path to directory containing the security_context's files
-    return security_context_dir
+    # Return path to directory containing the enclave's files
+    return enclave_dir
 
 
 def load_cert(path):
@@ -89,20 +89,20 @@ def verify_signature(cert, signatory):
     return True
 
 
-def test_create_key(security_context_keys_dir):
+def test_create_key(enclave_keys_dir):
     expected_files = (
         'cert.pem', 'governance.p7s', 'identity_ca.cert.pem', 'key.pem', 'permissions.p7s',
         'permissions.xml', 'permissions_ca.cert.pem'
     )
-    assert len(list(security_context_keys_dir.iterdir())) == len(expected_files)
+    assert len(list(enclave_keys_dir.iterdir())) == len(expected_files)
 
     for expected_file in expected_files:
-        assert (security_context_keys_dir / expected_file).is_file()
+        assert (enclave_keys_dir / expected_file).is_file()
 
 
-def test_cert_pem(security_context_keys_dir):
-    cert = load_cert(security_context_keys_dir / 'cert.pem')
-    check_common_name(cert.subject, u'/test_security_context')
+def test_cert_pem(enclave_keys_dir):
+    cert = load_cert(enclave_keys_dir / 'cert.pem')
+    check_common_name(cert.subject, u'/test_enclave')
     check_common_name(cert.issuer, _keystore._DEFAULT_COMMON_NAME)
 
     # Verify that the hash algorithm is as expected
@@ -123,28 +123,28 @@ def test_cert_pem(security_context_keys_dir):
     assert value.path_length is None
 
     # Verify this cert is indeed signed by the keystore CA
-    signatory = load_cert(security_context_keys_dir / 'identity_ca.cert.pem')
+    signatory = load_cert(enclave_keys_dir / 'identity_ca.cert.pem')
     assert verify_signature(cert, signatory)
 
 
-def test_governance_p7s(security_context_keys_dir):
+def test_governance_p7s(enclave_keys_dir):
     # Would really like to verify the signature, but ffi just can't use
     # that part of the OpenSSL API
-    with open(security_context_keys_dir / 'governance.p7s') as f:
+    with open(enclave_keys_dir / 'governance.p7s') as f:
         lines = f.readlines()
         assert lines[0] == 'MIME-Version: 1.0\n'
         assert lines[1].startswith(
             'Content-Type: multipart/signed; protocol="application/x-pkcs7-signature"; micalg="sha-256";')  # noqa
 
 
-def test_identity_ca_cert_pem(security_context_keys_dir):
-    cert = load_cert(security_context_keys_dir / 'identity_ca.cert.pem')
+def test_identity_ca_cert_pem(enclave_keys_dir):
+    cert = load_cert(enclave_keys_dir / 'identity_ca.cert.pem')
     check_common_name(cert.subject, _keystore._DEFAULT_COMMON_NAME)
     check_common_name(cert.issuer, _keystore._DEFAULT_COMMON_NAME)
 
 
-def test_key_pem(security_context_keys_dir):
-    private_key = load_private_key(security_context_keys_dir / 'key.pem')
+def test_key_pem(enclave_keys_dir):
+    private_key = load_private_key(enclave_keys_dir / 'key.pem')
     assert isinstance(private_key, ec.EllipticCurvePrivateKey)
     assert private_key.key_size == 256
 
@@ -153,27 +153,27 @@ def test_key_pem(security_context_keys_dir):
     assert public_key.key_size == 256
 
 
-def test_permissions_p7s(security_context_keys_dir):
+def test_permissions_p7s(enclave_keys_dir):
     # Would really like to verify the signature, but ffi just can't use
     # that part of the OpenSSL API
-    with open(security_context_keys_dir / 'permissions.p7s') as f:
+    with open(enclave_keys_dir / 'permissions.p7s') as f:
         lines = f.readlines()
         assert lines[0] == 'MIME-Version: 1.0\n'
         assert lines[1].startswith(
             'Content-Type: multipart/signed; protocol="application/x-pkcs7-signature"; micalg="sha-256";')  # noqa
 
 
-def test_permissions_xml(security_context_keys_dir):
-    permissions_xml = etree.parse(str(security_context_keys_dir / 'permissions.xml'))
+def test_permissions_xml(enclave_keys_dir):
+    permissions_xml = etree.parse(str(enclave_keys_dir / 'permissions.xml'))
     permissions_xsd_path = get_transport_schema('dds', 'permissions.xsd')
     permissions_xsd = etree.XMLSchema(etree.parse(permissions_xsd_path))
     permissions_xsd.assertValid(permissions_xml)
 
 
-def test_permissions_ca_cert_pem(security_context_keys_dir):
-    cert = load_cert(security_context_keys_dir / 'permissions_ca.cert.pem')
+def test_permissions_ca_cert_pem(enclave_keys_dir):
+    cert = load_cert(enclave_keys_dir / 'permissions_ca.cert.pem')
     check_common_name(cert.subject, _keystore._DEFAULT_COMMON_NAME)
     check_common_name(cert.issuer, _keystore._DEFAULT_COMMON_NAME)
 
-    signatory = load_cert(security_context_keys_dir / 'identity_ca.cert.pem')
+    signatory = load_cert(enclave_keys_dir / 'identity_ca.cert.pem')
     assert verify_signature(cert, signatory)
diff --git a/sros2/test/sros2/commands/security/verbs/test_create_keystore.py b/sros2/test/sros2/commands/security/verbs/test_create_keystore.py
index 178ed79f..297232e7 100644
--- a/sros2/test/sros2/commands/security/verbs/test_create_keystore.py
+++ b/sros2/test/sros2/commands/security/verbs/test_create_keystore.py
@@ -40,7 +40,7 @@ def keystore_dir(tmpdir_factory):
 def test_create_keystore(keystore_dir):
     public = keystore_dir / 'public'
     private = keystore_dir / 'private'
-    contexts = keystore_dir / 'contexts'
+    enclaves = keystore_dir / 'enclaves'
     expected_files_public = (
         public / 'ca.cert.pem',
         public / 'permissions_ca.cert.pem',
@@ -51,16 +51,16 @@ def test_create_keystore(keystore_dir):
         private / 'permissions_ca.key.pem',
         private / 'identity_ca.key.pem',
     )
-    expected_files_contexts = (
-        contexts / 'governance.p7s',
-        contexts / 'governance.xml',
+    expected_files_enclaves = (
+        enclaves / 'governance.p7s',
+        enclaves / 'governance.xml',
     )
 
     assert len(list(keystore_dir.iterdir())) == 3
     assert len(list(public.iterdir())) == len(expected_files_public)
     assert len(list(private.iterdir())) == len(expected_files_private)
-    assert len(list(contexts.iterdir())) == len(expected_files_contexts)
-    expected_files = expected_files_public + expected_files_private + expected_files_contexts
+    assert len(list(enclaves.iterdir())) == len(expected_files_enclaves)
+    expected_files = expected_files_public + expected_files_private + expected_files_enclaves
     assert all(x.is_file() for x in expected_files)
 
 
@@ -84,7 +84,7 @@ def test_ca_key(keystore_dir):
 def test_governance_p7s(keystore_dir):
     # Would really like to verify the signature, but ffi just can't use
     # that part of the OpenSSL API
-    with (keystore_dir / 'contexts' / 'governance.p7s').open('r') as f:
+    with (keystore_dir / 'enclaves' / 'governance.p7s').open('r') as f:
         lines = f.readlines()
         assert lines[0] == 'MIME-Version: 1.0\n'
         assert lines[1].startswith(
@@ -93,4 +93,4 @@ def test_governance_p7s(keystore_dir):
 
 def test_governance_xml(keystore_dir):
     # Validates valid XML
-    ElementTree.parse(str(keystore_dir / 'contexts' / 'governance.xml'))
+    ElementTree.parse(str(keystore_dir / 'enclaves' / 'governance.xml'))
diff --git a/sros2/test/sros2/commands/security/verbs/test_create_permission.py b/sros2/test/sros2/commands/security/verbs/test_create_permission.py
index a5ec09bd..3e8fe005 100644
--- a/sros2/test/sros2/commands/security/verbs/test_create_permission.py
+++ b/sros2/test/sros2/commands/security/verbs/test_create_permission.py
@@ -29,14 +29,14 @@
 
 # This fixture will run once for the entire module (as opposed to once per test)
 @pytest.fixture(scope='module')
-def security_context_dir(tmpdir_factory, test_policy_dir) -> pathlib.Path:
+def enclave_dir(tmpdir_factory, test_policy_dir) -> pathlib.Path:
     keystore_dir = pathlib.Path(str(tmpdir_factory.mktemp('keystore')))
 
     # First, create the keystore as well as a keypair for the talker
     assert _keystore.create_keystore(keystore_dir)
     assert _key.create_key(keystore_dir, _test_identity)
 
-    security_files_dir = keystore_dir.joinpath(f'contexts{_test_identity}')
+    security_files_dir = keystore_dir.joinpath(f'enclaves{_test_identity}')
     assert security_files_dir.is_dir()
 
     # Now using that keystore, create a permissions file using the sample policy
@@ -50,11 +50,11 @@ def security_context_dir(tmpdir_factory, test_policy_dir) -> pathlib.Path:
     return security_files_dir
 
 
-def test_create_permission(security_context_dir):
-    assert security_context_dir.joinpath('permissions.xml').is_file()
-    assert security_context_dir.joinpath('permissions.p7s').is_file()
+def test_create_permission(enclave_dir):
+    assert enclave_dir.joinpath('permissions.xml').is_file()
+    assert enclave_dir.joinpath('permissions.p7s').is_file()
 
-    tree = lxml.etree.parse(str(security_context_dir.joinpath('permissions.xml')))
+    tree = lxml.etree.parse(str(enclave_dir.joinpath('permissions.xml')))
 
     # Validate the schema
     permissions_xsd_path = get_transport_schema('dds', 'permissions.xsd')
diff --git a/sros2/test/sros2/commands/security/verbs/test_list_keys.py b/sros2/test/sros2/commands/security/verbs/test_list_keys.py
index 27e29af9..9ee2dc1b 100644
--- a/sros2/test/sros2/commands/security/verbs/test_list_keys.py
+++ b/sros2/test/sros2/commands/security/verbs/test_list_keys.py
@@ -26,11 +26,11 @@ def test_list_keys(capsys):
             assert _keystore.create_keystore(keystore_dir)
 
             # Now using that keystore, create a keypair
-            assert _key.create_key(keystore_dir, '/test_context')
+            assert _key.create_key(keystore_dir, '/test_enclave')
 
         # Now verify that the key we just created is included in the list
         assert cli.main(argv=['security', 'list_keys', keystore_dir]) == 0
-        assert capsys.readouterr().out.strip() == 'test_context'
+        assert capsys.readouterr().out.strip() == 'test_enclave'
 
 
 def test_list_keys_no_keys(capsys):
diff --git a/sros2_cmake/README.md b/sros2_cmake/README.md
index 47a94e99..ab2b9201 100644
--- a/sros2_cmake/README.md
+++ b/sros2_cmake/README.md
@@ -6,16 +6,16 @@ In package.xml add:
 `<depend>sros2_cmake</depend>`  
 In CMakeLists add:  
 `find_package(sros2_cmake REQUIRED)`  
-`sros2_generate_artifacts(SECURITY_CONTEXTS <context_name>)`  
+`sros2_generate_artifacts(ENCLAVES <enclave_name>)`  
 
 Macro definition:  
 ```
-    # sros2_generate_artifacts(SECURITY_CONTEXTS <context_1> <context_2>...<context_n>)
+    # sros2_generate_artifacts(ENCLAVES <enclave_1> <enclave_2>...<enclave_n>)
 
-    # SECURITY_CONTEXTS (macro multi-arg) takes the security contexts names for which keys will be generated
-    #   Executables can use a different or the same security contexts.
-    #   All nodes in the same process use the same security context.
+    # ENCLAVES (macro multi-arg) takes the enclaves names for which keys will be generated
+    #   Executables can use a different or the same enclaves.
+    #   All nodes in the same process use the same enclave.
     # SECURITY (cmake arg) if not define or OFF, will not generate key/keystores
     # ROS_SECURITY_ROOT_DIRECTORY (env variable) the location of the keystore
-    # POLICY_FILE (cmake arg) if defined, will generate security artifacts for each context defined in the policy file.
+    # POLICY_FILE (cmake arg) if defined, will generate security artifacts for each enclave defined in the policy file.
 ```
diff --git a/sros2_cmake/cmake/sros2_generate_artifacts.cmake b/sros2_cmake/cmake/sros2_generate_artifacts.cmake
index 31fc7f42..7fffe00b 100644
--- a/sros2_cmake/cmake/sros2_generate_artifacts.cmake
+++ b/sros2_cmake/cmake/sros2_generate_artifacts.cmake
@@ -13,12 +13,12 @@
 # limitations under the License.
 
 macro(sros2_generate_artifacts)
-  # sros2_generate_artifacts(SECURITY_CONTEXTS <context_1> <context_1>...<context_1>)
+  # sros2_generate_artifacts(ENCLAVES <enclave_1> <enclave_1>...<enclave_1>)
   #
-  # SECURITY_CONTEXTS (macro multi-arg) takes the context names for which artifacts will be generated
+  # ENCLAVES (macro multi-arg) takes the enclave names for which artifacts will be generated
   # SECURITY (cmake arg) if not defined or OFF, will not generate keystore/keys/permissions
   # POLICY_FILE (cmake arg) if defined, policies defined in the file will used to generate
-  #   permission files for all the security contexts listed in the policy file.
+  #   permission files for all the enclaves listed in the policy file.
   # ROS_SECURITY_ROOT_DIRECTORY (env variable) will be the location of the keystore
   if(NOT SECURITY)
     message(STATUS "Not generating security files")
@@ -31,13 +31,13 @@ macro(sros2_generate_artifacts)
   else()
     set(SECURITY_KEYSTORE ${DEFAULT_KEYSTORE})
   endif()
-  cmake_parse_arguments(ros2_generate_security_artifacts "" "" "SECURITY_CONTEXTS" ${ARGN})
+  cmake_parse_arguments(ros2_generate_security_artifacts "" "" "ENCLAVES" ${ARGN})
   set(generate_artifacts_command ${PROGRAM} security generate_artifacts -k ${SECURITY_KEYSTORE})
-  list(LENGTH ros2_generate_security_artifacts_SECURITY_CONTEXTS nb_security_contexts)
-  if(${nb_security_contexts} GREATER "0")
-    list(APPEND generate_artifacts_command "-c")
-    foreach(security_context ${ros2_generate_security_artifacts_SECURITY_CONTEXTS})
-        list(APPEND generate_artifacts_command security_context)
+  list(LENGTH ros2_generate_security_artifacts_ENCLAVES nb_enclaves)
+  if(${nb_enclaves} GREATER "0")
+    list(APPEND generate_artifacts_command "-e")
+    foreach(enclave ${ros2_generate_security_artifacts_ENCLAVES})
+        list(APPEND generate_artifacts_command enclave)
     endforeach()
   endif()
   if(POLICY_FILE)