ROS2 SecTest

This code is experimental and uses features from ROS2 D

ROS2 has minimal security or limitations on node permissions by default. This package is meant to demonstrate ways a malicious or misconfigured node could harm the operations of a ROS2 system and demonstrate mitigations for those “attacks”. The initial attacks come from the ROS2 Threat Model.

More details can be found in the design doc in this PR.

Example Noop Attack

To run the demo: Create a ROS2 workspace

mkdir -p security_ws/src
cd security_ws

Clone the repository

cd src
git clone https://github.com/aws-robotics/ROS2-SecTest
cd ..

Install dependencies and build

rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/local_setup.sh

Run the noop demo

ros2 run ros_sec_test ros_sec_test __params:=`ros2 pkg prefix ros_sec_test`/share/ros_sec_test/examples/params.yaml

You should see something like the following output which demonstrates that the Noop node was configured and activated.

[INFO] [Runner]: Initializing Runner
[INFO] [Runner]: Adding attack node 'noop'
[INFO] [Runner]: Spinning started
[INFO] [Runner]: Configuring attack node 'noop'
[INFO] [noop]: on_configure() is called.
[INFO] [Runner]: Enabling attack node 'noop'
[INFO] [noop]: on_activate() is called.
[INFO] [Runner]: Shutting-down attack node 'noop'
[INFO] [noop]: on_deactivate() is called.
[INFO] [Runner]: Spinning finished

To enable or disable attacks, you can create you own params.yaml.

License

This library is licensed under the Apache 2.0 License.