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Cloud Functionsを実行時、The request was not authenticatedエラーの対策法

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Cloud Functionsを検証するときに起きた問題。

専用サービスアカウントを指定し、Pub/Sub トリガーのCloud Functions(第2世代)
トピックにメッセージをパブリッシュすると、Cloud Functionsのログにこういうエラーが出ました。

"The request was not authenticated. Either allow unauthenticated invocations or set the proper Authorization header. Read more at https://cloud.google.com/run/docs/securing/authenticating Additional troubleshooting documentation can be found at: https://cloud.google.com/run/docs/troubleshooting#unauthorized-client"

解決策として、Cloud Functionsのサービスアカウントに関数の実行権限を付与する

gcloud functions add-invoker-policy-binding FUNCTION_NAME \
      --region=REGIN \
      --member=SERVICE_ACCOUNT
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