ros2-security

# ROS 2 Security (SROS2) Instructions (Ubuntu 24.04 LTS & ROS 2 Jazzy) ## 1. Architecture SROS2 applies OMG DDS-Security (Fast DDS, Cyclone DDS) for node authentication (X.509 PKI), access control (Governance/Permissions XML), and topic/service encryption (AES-GCM-GMAC 128/256). ## 2. Documentation Entry Points - Concepts: `https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Security.html` - Tutorials (setup + access control): `https://docs.ros.org/en/jazzy/Tutorials/Advanced/Security/Introducing-ros2-security.html` Verify `ros2 security` subcommands and the env vars `ROS_SECURITY_ENABLE` / `ROS_SECURITY_STRATEGY` / `ROS_SECURITY_KEYSTORE` there before use. ## 3. Key Concepts & Workflows ### A. SROS2 CLI Commands ```bash # 1. Create root keystore ros2 security create_keystore ~/my_keystore # 2. Create security enclave for node ros2 security create_enclave ~/my_keystore /talker_listener/talker # 3. Launch node inside enclave export ROS_SECURITY_ENABLE=true export ROS_SECURITY_STRATEGY=Enforce export ROS_SECURITY_KEYSTORE=~/my_keystore ros2 run demo_nodes_cpp talker --ros-args --enclave /talker_listener/talker ``` ### B. High-Level Access Control Policy (`policy.xml`) ```xml <policy version="0.2.0"> <enclaves> <enclave path="/talker_listener/talker"> <profiles> <profile node="talker" ns="/"> <topics publish="ALLOW"> <topic>chatter</topic> </topics> </profile> </profiles> </enclave> </enclav...