diff --git a/sros2/setup.py b/sros2/setup.py
index 98f0746d..e2838408 100644
--- a/sros2/setup.py
+++ b/sros2/setup.py
@@ -65,10 +65,7 @@ def package_files(directory):
             'create_permission = sros2.verb.create_permission'
             ':CreatePermissionVerb',
             'generate_artifacts = sros2.verb.generate_artifacts:GenerateArtifactsVerb',
-            # TODO(ivanpauno): Reactivate this after having a way to introspect
-            # enclave names in rclpy.
-            # Related with https://github.com/ros2/rclpy/issues/529.
-            # 'generate_policy = sros2.verb.generate_policy:GeneratePolicyVerb',
+            'generate_policy = sros2.verb.generate_policy:GeneratePolicyVerb',
             'list_keys = sros2.verb.list_keys:ListKeysVerb',
         ],
     },
diff --git a/sros2/sros2/policy/templates/policy.xsl b/sros2/sros2/policy/templates/policy.xsl
index 395fa15f..134b53e8 100644
--- a/sros2/sros2/policy/templates/policy.xsl
+++ b/sros2/sros2/policy/templates/policy.xsl
@@ -23,7 +23,7 @@
       <!-- by namespace -->
       <xsl:sort select="concat(@ns, @node)"/>
       <!-- by path -->
-      <xsl:sort select="concat(@path)"/>
+      <xsl:sort select="@path"/>
     </xsl:apply-templates>
   </xsl:copy>
 </xsl:template>
diff --git a/sros2/sros2/verb/generate_policy.py b/sros2/sros2/verb/generate_policy.py
index 80811fde..5808620a 100644
--- a/sros2/sros2/verb/generate_policy.py
+++ b/sros2/sros2/verb/generate_policy.py
@@ -43,7 +43,7 @@ def FilesCompleter(*, allowednames, directories):
 
 _HIDDEN_NODE_PREFIX = '_'
 
-_NodeName = namedtuple('NodeName', ('node', 'ns', 'fqn'))
+_NodeName = namedtuple('NodeName', ('node', 'ns', 'fqn', 'path'))
 _TopicInfo = namedtuple('Topic', ('fqn', 'type'))
 
 
@@ -66,31 +66,35 @@ def get_policy(self, policy_file_path):
         if os.path.isfile(policy_file_path):
             return load_policy(policy_file_path)
         else:
-            profiles = etree.Element('profiles')
+            enclaves = etree.Element('enclaves')
             policy = etree.Element('policy')
             policy.attrib['version'] = POLICY_VERSION
-            policy.append(profiles)
+            policy.append(enclaves)
             return policy
 
     def get_profile(self, policy, node_name):
-        profile = policy.find(
-            path='profiles/profile[@ns="{ns}"][@node="{node}"]'.format(
-                ns=node_name.ns,
-                node=node_name.node))
+        enclave = policy.find(
+            path=f'enclaves/enclave[@path="{node_name.path}"]')
+        if enclave is None:
+            enclave = etree.Element('enclave')
+            enclave.attrib['path'] = node_name.path
+            profiles = etree.Element('profiles')
+            enclave.append(profiles)
+            enclaves = policy.find('enclaves')
+            enclaves.append(enclave)
+        profile = enclave.find(
+            path=f'profiles/profile[@ns="{node_name.ns}"][@node="{node_name.node}"]')
         if profile is None:
             profile = etree.Element('profile')
             profile.attrib['ns'] = node_name.ns
             profile.attrib['node'] = node_name.node
-            profiles = policy.find('profiles')
+            profiles = enclave.find('profiles')
             profiles.append(profile)
         return profile
 
     def get_permissions(self, profile, permission_type, rule_type, rule_qualifier):
         permissions = profile.find(
-            path='{permission_type}s[@{rule_type}="{rule_qualifier}"]'.format(
-                permission_type=permission_type,
-                rule_type=rule_type,
-                rule_qualifier=rule_qualifier))
+            path=f'{permission_type}s[@{rule_type}="{rule_qualifier}"]')
         if permissions is None:
             permissions = etree.Element(permission_type + 's')
             permissions.attrib[rule_type] = rule_qualifier
@@ -147,13 +151,14 @@ def main(self, *, args):
 
 
 def _get_node_names(*, node, include_hidden_nodes=False):
-    node_names_and_namespaces = node.get_node_names_and_namespaces()
+    node_names_and_namespaces_with_enclaves = node.get_node_names_and_namespaces_with_enclaves()
     return [
         _NodeName(
             node=t[0],
             ns=t[1],
-            fqn=t[1] + ('' if t[1].endswith('/') else '/') + t[0])
-        for t in node_names_and_namespaces
+            fqn=t[1] + ('' if t[1].endswith('/') else '/') + t[0],
+            path=t[2])
+        for t in node_names_and_namespaces_with_enclaves
         if (
             include_hidden_nodes or
             (t[0] and not t[0].startswith(_HIDDEN_NODE_PREFIX))
diff --git a/sros2/test/sros2/commands/security/verbs/test_generate_policy.py b/sros2/test/sros2/commands/security/verbs/test_generate_policy.py
index c21ab264..b077e219 100644
--- a/sros2/test/sros2/commands/security/verbs/test_generate_policy.py
+++ b/sros2/test/sros2/commands/security/verbs/test_generate_policy.py
@@ -24,20 +24,21 @@
 from test_msgs.srv import Empty
 
 
-# TODO(ivanpauno): reactivate this test after updating generate policy
-@pytest.mark.skip(reason='temporarily deactivated')
 def test_generate_policy_topics():
     with tempfile.TemporaryDirectory() as tmpdir:
+        test_enclave = '/foo/bar'
+        test_node_namespace = '/'
+        test_name = 'test_generate_policy_topics'
+        test_node_name = f'{test_name}_node'
         # Create a test-specific context so that generate_policy can still init
         context = rclpy.Context()
-        rclpy.init(context=context)
-        node = rclpy.create_node('test_generate_policy_topics_node', context=context)
+        rclpy.init(context=context, args=['--ros-args', '-e', test_enclave])
+        node = rclpy.create_node(test_node_name, context=context)
 
         try:
             # Create a publisher and subscription
-            node.create_publisher(Strings, 'test_generate_policy_topics_pub', 1)
-            node.create_subscription(
-                Strings, 'test_generate_policy_topics_sub', lambda msg: None, 1)
+            node.create_publisher(Strings, f'{test_name}_pub', 1)
+            node.create_subscription(Strings, f'{test_name}_sub', lambda msg: None, 1)
 
             # Generate the policy for the running node
             assert cli.main(
@@ -49,7 +50,10 @@ def test_generate_policy_topics():
         # Load the policy and pull out the allowed publications and subscriptions
         policy = load_policy(os.path.join(tmpdir, 'test-policy.xml'))
         profile = policy.find(
-            path='profiles/profile[@ns="/"][@node="test_generate_policy_topics_node"]')
+            path=f'enclaves/enclave[@path="{test_enclave}"]'
+                 + f'/profiles/profile[@ns="{test_node_namespace}"]'
+                 + f'[@node="{test_node_name}"]'
+        )
         assert profile is not None
         topics_publish_allowed = profile.find(path='topics[@publish="ALLOW"]')
         assert topics_publish_allowed is not None
@@ -58,28 +62,34 @@ def test_generate_policy_topics():
 
         # Verify that the allowed publications include topic_pub and not topic_sub
         topics = topics_publish_allowed.findall('topic')
-        assert len([t for t in topics if t.text == 'test_generate_policy_topics_pub']) == 1
-        assert len([t for t in topics if t.text == 'test_generate_policy_topics_sub']) == 0
+        assert len([t for t in topics if t.text == f'{test_name}_pub']) == 1
+        assert len([t for t in topics if t.text == f'{test_name}_sub']) == 0
 
         # Verify that the allowed subscriptions include topic_sub and not topic_pub
         topics = topics_subscribe_allowed.findall('topic')
-        assert len([t for t in topics if t.text == 'test_generate_policy_topics_sub']) == 1
-        assert len([t for t in topics if t.text == 'test_generate_policy_topics_pub']) == 0
+        assert len([t for t in topics if t.text == f'{test_name}_sub']) == 1
+        assert len([t for t in topics if t.text == f'{test_name}_pub']) == 0
 
 
-# TODO(ivanpauno): reactivate this test after updating generate policy
-@pytest.mark.skip(reason='temporarily deactivated')
 def test_generate_policy_services():
     with tempfile.TemporaryDirectory() as tmpdir:
         # Create a test-specific context so that generate_policy can still init
         context = rclpy.Context()
-        rclpy.init(context=context)
-        node = rclpy.create_node('test_generate_policy_services_node', context=context)
+        test_enclave = '/foo'
+        test_node_namespace = '/node_ns'
+        test_name = 'test_generate_policy_services'
+        test_node_name = test_name + '_node'
+        rclpy.init(context=context, args=['--ros-args', '-e', test_enclave])
+        node = rclpy.create_node(
+                test_node_name,
+                namespace=test_node_namespace,
+                context=context
+        )
 
         try:
             # Create a server and client
-            node.create_client(Empty, 'test_generate_policy_services_client')
-            node.create_service(Empty, 'test_generate_policy_services_server', lambda request,
+            node.create_client(Empty, f'{test_name}_client')
+            node.create_service(Empty, f'{test_name}_server', lambda request,
                                 response: response)
 
             # Generate the policy for the running node
@@ -92,7 +102,10 @@ def test_generate_policy_services():
         # Load the policy and pull out allowed replies and requests
         policy = load_policy(os.path.join(tmpdir, 'test-policy.xml'))
         profile = policy.find(
-            path='profiles/profile[@ns="/"][@node="test_generate_policy_services_node"]')
+            path=f'enclaves/enclave[@path="{test_enclave}"]'
+                 + f'/profiles/profile[@ns="{test_node_namespace}"]'
+                 + f'[@node="{test_node_name}"]'
+        )
         assert profile is not None
         service_reply_allowed = profile.find(path='services[@reply="ALLOW"]')
         assert service_reply_allowed is not None
@@ -101,17 +114,15 @@ def test_generate_policy_services():
 
         # Verify that the allowed replies include service_server and not service_client
         services = service_reply_allowed.findall('service')
-        assert len([s for s in services if s.text == 'test_generate_policy_services_server']) == 1
-        assert len([s for s in services if s.text == 'test_generate_policy_services_client']) == 0
+        assert len([s for s in services if s.text == f'{test_name}_server']) == 1
+        assert len([s for s in services if s.text == f'{test_name}_client']) == 0
 
         # Verify that the allowed requests include service_client and not service_server
         services = service_request_allowed.findall('service')
-        assert len([s for s in services if s.text == 'test_generate_policy_services_client']) == 1
-        assert len([s for s in services if s.text == 'test_generate_policy_services_server']) == 0
+        assert len([s for s in services if s.text == f'{test_name}_client']) == 1
+        assert len([s for s in services if s.text == f'{test_name}_server']) == 0
 
 
-# TODO(ivanpauno): reactivate this test after updating generate policy
-@pytest.mark.skip(reason='temporarily deactivated')
 # TODO(jacobperron): On Windows, this test is flakey due to nodes left-over from tests in
 #                    other packages.
 #                    See: https://github.com/ros2/sros2/issues/143