I want to setup Google 2-Factor Authentication for my server in combination with SSH pubkeys.

There's already a program called "login_duo" that is able to do this with 2-factor-auth from duosecurity.

login_duo is therefore included as a 'command' for every allowed SSH-Key.

Is there any free other program that allows authentication with every other PAM module that I may include in my authorized_keys for the google-pam-module?

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