论文标题
SROS2：ROS 2的可用网络安全工具2
SROS2: Usable Cyber Security Tools for ROS 2
论文作者
论文摘要
ROS 2迅速成为机器人行业的标准。建立在DDS作为其默认通信中间件的基础上，并用于安全至关重要的场景中，为机器人和ROS计算图添加安全性越来越成为一个问题。目前的工作介绍了SROS2，这是一系列开发人员工具和库，可促进ROS 2图添加安全性。为了关注SROS2中以可用性为中心的方法，我们提出了一种在遵循DevSecops模型时系统地保护图形的方法。我们还通过提出了一项应用程序案例研究来证明使用安全工具的使用，该案例研究考虑使用Puctor Navigation2和SLAM工具箱堆栈保护图形，该图形堆栈应用于Turtlebot3机器人。我们分析了SROS2的当前功能，并讨论了缺点，这为未来的贡献和扩展提供了见解。最终，我们将SROS2呈现为ROS 2的可用安全工具，并认为如果没有可用性，机器人技术的安全性将受到很大的损害。
ROS 2 is rapidly becoming a standard in the robotics industry. Built upon DDS as its default communication middleware and used in safety-critical scenarios, adding security to robots and ROS computational graphs is increasingly becoming a concern. The present work introduces SROS2, a series of developer tools and libraries that facilitate adding security to ROS 2 graphs. Focusing on a usability-centric approach in SROS2, we present a methodology for securing graphs systematically while following the DevSecOps model. We also demonstrate the use of our security tools by presenting an application case study that considers securing a graph using the popular Navigation2 and SLAM Toolbox stacks applied in a TurtleBot3 robot. We analyse the current capabilities of SROS2 and discuss the shortcomings, which provides insights for future contributions and extensions. Ultimately, we present SROS2 as usable security tools for ROS 2 and argue that without usability, security in robotics will be greatly impaired.
