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.

Contributing Guidelines

Thank you for your interest in contributing to our project. Whether it’s a bug report, new feature, correction, or additional documentation, we greatly value feedback and contributions from our community.

Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.

Reporting Bugs/Feature Requests

We welcome you to use the GitHub issue tracker to report bugs or suggest features.

When filing an issue, please check existing open, or recently closed, issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:

• A reproducible test case or series of steps
• The version of our code being used
• Any modifications you’ve made relevant to the bug
• Anything unusual about your environment or deployment

Contributing via Pull Requests

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

1. You are working against the latest source on the master branch.
2. You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
3. You open an issue to discuss any significant work - we would hate for your time to be wasted.

To send us a pull request, please:

1. Fork the repository.
2. Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
3. Ensure local tests pass.
4. Commit to your fork using clear commit messages.
5. Send us a pull request, answering any default questions in the pull request interface.
6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

GitHub provides additional document on forking a repository and creating a pull request.

Finding contributions to work on

Looking at the existing issues is a great way to find something to contribute on. As our projects, by default, use the default GitHub issue labels (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ‘help wanted’ issues is a great place to start.

Code of Conduct

This project has adopted the Amazon Open Source Code of Conduct. For more information see the Code of Conduct FAQ or contact opensource-codeofconduct@amazon.com with any additional questions or comments.

Security issue notifications

If you discover a potential security issue in this project we ask that you notify AWS/Amazon Security via our vulnerability reporting page. Please do not create a public github issue.

Licensing

See the LICENSE file for our project’s licensing. We will ask you to confirm the licensing of your contribution.

We may ask you to sign a Contributor License Agreement (CLA) for larger changes.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Contributors must sign-off each commit by adding a Signed-off-by: ... line to commit messages to certify that they have the right to submit the code they are contributing to the project according to the Developer Certificate of Origin (DCO).