I could able to do DIGEST-MD5 authentication with kafka broker and embedded zookeeper which is given by Kafka but I was getting following error message while doing DIGEST-MD5 authentication with Kafka broker and non embedded zookeeper (separate zookeeper instance).
Please find below is the error message:
[2018-11-05 19:44:21,536] ERROR SASL authentication failed using login context 'Client' with exception: {} (org.apache.zookeeper.client.ZooKeeperSaslClient)
javax.security.sasl.SaslException: Error in authenticating with a Zookeeper Quorum member: the quorum member's saslToken is null.
org.apache.zookeeper.KeeperException$AuthFailedException: KeeperErrorCode = AuthFailed for /consumers