Thanks for putting this together! Although not formally a command line tool, our team at Alias Robotics has been working on the Robotics CTF (RCTF). An online environment for penetration testing. RCTF can run both in our servers or locally through Dockerized scenarios (https://rctf.aliasrobotics.com).
We are making very active use of this with our clients and are more than happy to contribute with support and maintenance to the community.
In addition to the availability of the RCTF, we’d be happy to put person-power and create custom scenarios for sensitive security aspects within ROS 2.0. This way, evaluation is simplified and easily accessible to a wide variety of security researchers