Authentication is only support in Rstudio Server Professional. If you are using Rstudio Server Pro you can use the PAM session API to initializeand destroy Kerberos tickets:
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Login to Rstudio with your Unix credentials(using PAM authentication)
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Open a shell in Rstudio(via 'Tools ---> Shell' menu item in RStudio)
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Get Kerberos ticket(issue the command: 'kinit <user>" - this should prompt you for the users Kerberos password.
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Now you should have a Kerberos ticket for that user until the lease expires(usually 24 hours). Commands that you execute using Rstudio will have a valid Kerberos credential.