MudBoxer

A security 'wrapper' for ROS developed as part of ROS Secure or ROSS project.

MudBoxer secures your ROS app by:

• Changing type of all topics to std::msgs/String so only the nodes know the datatype of messages sent/received.
• Encrypting messages of each topic with a key known only to certified nodes publishing/subcribing to that topic.
• Including a checksum within the encrypted message to ensure message intergrity.

Install

• Install Crypt
• Build and install MudBoxer(will add more general instructions soon).

Setup & Run

• Install Mudboxer

• Give the mudboxer.sh script the mudbox alias.

  Here's mine: alias mudbox='bash $HOME/Projects/MudBoxer/mudboxer.sh'

• Setup the following environment variables for each node

  • ROSS_ROOT_CERT="Path to root CA's certificate"
  • ROSS_NODE_NAME="Node's name"
  • ROSS_NODE_KEY="Path to node's private key"
  • ROSS_NODE_PASS="Password to node's private key"
  • ROSS_NODE_CERT=""
  • ROSS_AS_HOST="URN of AuthServer"

  I group mine into a source file like load and . load before launching that node.

• Build up your rosrun command first so that you can still use the auto-complete functionality. Then prefix it with mudbox .

  For example, rosrun turtlesim turtlesim_node becomes mudbox rosrun turtlesim turtlesim_node.

Incase your node doesn't run as it used to: mail me the source or atleast the publish and subscribe options so that I can include them into MudBoxer.