From 7a04ce14d9af4bb3d138f5effde29823f026b185 Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Fri, 26 Apr 2024 00:25:42 -0700 Subject: [PATCH] add tutorial for using security enclaves with ConfigMap. (#43) Signed-off-by: Tomoya.Fujita --- README.md | 1 + docker/Dockerfile.rolling | 2 + docs/ROS2_Deployment_Intermediate.md | 195 +++++++++++++++++++++++++++ images/ros2_security_enclaves.png | Bin 0 -> 181514 bytes scripts/replace_simlink.sh | 37 +++++ yaml/ros2-security-config.yaml | 9 ++ yaml/ros2-security-sample.yaml | 89 ++++++++++++ 7 files changed, 333 insertions(+) create mode 100644 images/ros2_security_enclaves.png create mode 100755 scripts/replace_simlink.sh create mode 100644 yaml/ros2-security-config.yaml create mode 100644 yaml/ros2-security-sample.yaml diff --git a/README.md b/README.md index eaf8a23..adf22e5 100644 --- a/README.md +++ b/README.md @@ -77,6 +77,7 @@ This environment is very much useful to try or test your container images or ser - [ROS 2 GUI Display Access](./docs/ROS2_Deployment_Intermediate.md#ros-2-gui-display-access) - [ROS 2 Zero Copy Data Sharing](./docs/ROS2_Deployment_Intermediate.md#ros-2-zero-copy-data-sharing) - [ROS 2 Fast-DDS Discovery Server](./docs/ROS2_Deployment_Intermediate.md#ros-2-fast-dds-discovery-server) + - [ROS 2 Security Enclaves with ConfigMap](./docs/ROS2_Deployment_Intermediate.md#ros-2-security-enclaves-with-configmap) - [Robotics System General](./docs/Robotics_System_General.md) - [Reserve Resources for Host System](./docs/Robotics_System_General.md#reserve-resources-for-host-system) - [Assign Resources to Pods/Containers](./docs/Robotics_System_General.md#assign-resources-to-podscontainers) diff --git a/docker/Dockerfile.rolling b/docker/Dockerfile.rolling index 2dc9e07..2fae0de 100644 --- a/docker/Dockerfile.rolling +++ b/docker/Dockerfile.rolling @@ -23,6 +23,8 @@ RUN apt-get update \ net-tools \ iputils-ping \ dnsutils \ + # ROS 2 Security + libssl-dev \ # install full packages including GUI ros-${ROS_DISTRO}-desktop \ # install cyclonedds diff --git a/docs/ROS2_Deployment_Intermediate.md b/docs/ROS2_Deployment_Intermediate.md index 0b46903..484aafe 100644 --- a/docs/ROS2_Deployment_Intermediate.md +++ b/docs/ROS2_Deployment_Intermediate.md @@ -171,3 +171,198 @@ deployment.apps/ros2-listener-1 created deployment.apps/ros2-listener-2 created deployment.apps/ros2-listener-3 created ``` + +### ROS 2 Security Enclaves with ConfigMap + +[Secured ROS 2 / SROS2](https://github.com/ros2/sros2) provides the tools and instructions to use ROS2 on top of DDS-Security. +Before going through this tutorial, it is highly recommended to read the [Introducing ROS 2 Security](https://docs.ros.org/en/rolling/Tutorials/Advanced/Security/Introducing-ros2-security.html) to understand how to enable security enclaves for ROS 2 application. + +That is good to have authentication and access permission to establish the secured connection using ROS 2. +On the other hand this generate the another problem, that is how to manage the security enclaves to bind the distributed nodes in the ROS 2 system. + +It is likely that ROS 2 system scales up to hundreds nodes, that are connected via network interfaces and distributed system. +In this case, we need to be able to distribute the appropriate security enclaves to the physical systems where the ROS 2 applications are running. +This will be operating cost for managing/updating security data, secured storage support, and we have to make sure the system where nodes are starting up has the security enclaves, otherwise nodes cannot start up. + +This burden can be solved in a second with Kubernetes `Configuration Map`. +This tutorial tells how to convert the security enclaves into `Configuration Map`, and bind the appropriate security enclaves to the ROS 2 application when it starts. +This does not matter where the security enclaves are, nor where ROS 2 application starts up. +Kubernetes takes care of deployment and configuration map, to start the ROS 2 application with specific configuration map dynamically. + +![ROS 2 Security with Configuration Map](./../images/ros2_security_enclaves.png) + +**see deployment description [ROS 2 Secured App Deployment](./../yaml/ros2-fastdds-discovery-server.yaml) and [ROS 2 Security Configuration Map](./../yaml/ros2-fastdds-discovery-server-apps.yaml)** + +- Generate Security Enclaves + + Usually security enclaves are generated by security administrator based on the security requirement for each ROS 2 application node. How to configure authentication and access permission is dependent on the requirement, so here it expects that talker and listener security enclaves are generated along with [Setting up security](https://docs.ros.org/en/rolling/Tutorials/Advanced/Security/Introducing-ros2-security.html) by user already. + + The following security enclaves are generated. + +```bash +./demo_keystore/enclaves/talker_listener/talker +./demo_keystore/enclaves/talker_listener/talker/identity_ca.cert.pem +./demo_keystore/enclaves/talker_listener/talker/cert.pem +./demo_keystore/enclaves/talker_listener/talker/permissions.xml +./demo_keystore/enclaves/talker_listener/talker/governance.p7s +./demo_keystore/enclaves/talker_listener/talker/key.pem +./demo_keystore/enclaves/talker_listener/talker/permissions.p7s +./demo_keystore/enclaves/talker_listener/talker/permissions_ca.cert.pem +./demo_keystore/enclaves/talker_listener/listener +./demo_keystore/enclaves/talker_listener/listener/identity_ca.cert.pem +./demo_keystore/enclaves/talker_listener/listener/cert.pem +./demo_keystore/enclaves/talker_listener/listener/permissions.xml +./demo_keystore/enclaves/talker_listener/listener/governance.p7s +./demo_keystore/enclaves/talker_listener/listener/key.pem +./demo_keystore/enclaves/talker_listener/listener/permissions.p7s +./demo_keystore/enclaves/talker_listener/listener/permissions_ca.cert.pem +``` + +- Copy security enclaves + + A few security files are symbolic links, those links cannot be loaded into ConfigMap data, so copy all files at once. + +```bash +### Copy talker enclave files +mkdir talker_enclaves +cp -L demo_keystore/enclaves/talker_listener/talker/* talker_enclaves/ + +### Copy listener enclave files +mkdir listener_enclaves +cp -L demo_keystore/enclaves/talker_listener/listener/* listener_enclaves/ +``` + +- Create ConfigMap from Security Enclaves + + Let's create ConfigMap from actual files without symbolic links from the temporary directory as following. + +```bash +### Create talker enclaves +kubectl create configmap talker-enclaves --from-file=./talker_enclaves +configmap/talker-enclaves created +### Create linstener enclaves +kubectl create configmap listener-enclaves --from-file=./listener_enclaves +configmap/listener-enclaves created +``` + + We can describe the ConfigMap to see what is inside of it. + As we can see below, ConfigMap is generated as `Data` contents from each files. + Now we have security enclaves ConfigMap data is ready to bind to the application container. + +```bash +kubectl describe configmap talker-enclaves +Name: talker-enclaves +Namespace: default +Labels: +Annotations: + +Data +==== +cert.pem: +---- +-----BEGIN CERTIFICATE----- +MIIBQTCB6aADAgECAhRsN6ffbQQ6/GhPaTXm3xZbWYgK9TAKBggqhkjOPQQDAjAS +MRAwDgYDVQQDDAdzcm9zMkNBMB4XDTI0MDQxNjA0NTMyMloXDTM0MDQxNTA0NTMy +MlowIjEgMB4GA1UEAwwXL3RhbGtlcl9saXN0ZW5lci90YWxrZXIwWTATBgcqhkjO +PQIBBggqhkjOPQMBBwNCAATLKY5Ej2RyAeGDUZkl7Hu58/Me+N/emHkkdrh8M0jY +cFMwaDG0qz8DiVeqaBi1dqsVeTXfZSkzsy7omv4Ypb1Low0wCzAJBgNVHRMEAjAA +MAoGCCqGSM49BAMCA0cAMEQCIGoSaKVtEQXpSFCNjm2PAwB1/rYj+SHgR5O37APc +1h6+AiAA437cnnom8Up/DhlJjZmXfxevtFwjfy2WLk+j8pbFhw== +-----END CERTIFICATE----- + +key.pem: +---- +-----BEGIN PRIVATE KEY----- +MIGHAgEAMBMGByqGSM49AgEGCCqGSM49AwEHBG0wawIBAQQgEHHPJ9VvW6dq38AF +npoHYa8d0L/s6y3DNofanILskuahRANCAATLKY5Ej2RyAeGDUZkl7Hu58/Me+N/e +mHkkdrh8M0jYcFMwaDG0qz8DiVeqaBi1dqsVeTXfZSkzsy7omv4Ypb1L +-----END PRIVATE KEY----- + +permissions.p7s: +---- +MIME-Version: 1.0 +Content-Type: multipart/signed; protocol="application/x-pkcs7-signature"; micalg="sha-256"; boundary="----0A5A21336BCFA2412598220B9633A26B" + +This is an S/MIME signed message +... +``` + +- ROS 2 Security Environmental Variables + + To use ROS 2 security enclaves, the following environmental variables must be set properly. + You can see more details for [Configure Environment Variable](https://docs.ros.org/en/rolling/Tutorials/Advanced/Security/Introducing-ros2-security.html#configure-environment-variables). + +```bash +ROS_SECURITY_KEYSTORE=/etc/demo_keystore +ROS_SECURITY_ENABLE=true +ROS_SECURITY_STRATEGY=Enforce +``` + + Since this is not specific security enclaves data, we can also use another ConfigMap to bind these environmental variable to the application container at startup. + Let`s use [ROS 2 Security Environment Configuration](./../yaml/ros2-security-config.yaml) to create ConfigMap in the cluster. + +```bash +### Create Security Environment ConfigMap +kubectl apply -f ./yaml/ros2-security-config.yaml +configmap/security-env-config created + +### Check +kubectl describe configmap security-env-config +Name: security-env-config +Namespace: default +Labels: +Annotations: + +Data +==== +ROS_SECURITY_KEYSTORE: +---- +/etc/demo_keystore +ROS_SECURITY_STRATEGY: +---- +Enforce +ROS_SECURITY_ENABLE: +---- +true + +BinaryData +==== + +Events: +``` + +- Deploy ROS 2 application with security enclaves and environmental variables + + Then all we have to is to start the ROS 2 application with ConfigMap created above to start the secured ROS 2 communication. + **see deployment description [ROS 2 Secured Sample](./../yaml/ros2-security-sample.yaml) for more details.** + +```bash +kubectl apply -f yaml/ros2-security-sample.yaml +deployment.apps/ros2-secured-talker created +deployment.apps/ros2-secured-listener created +``` + + you can see the log from application pod, that tells that security enclaves are enabled. + +```bash +kubectl get pods +NAME READY STATUS RESTARTS AGE +ros2-secured-listener-78784df45f-jpdvt 1/1 Running 0 85s +ros2-secured-talker-6b694cbf6f-5p8t2 1/1 Running 0 85s + +kubectl logs ros2-secured-listener-78784df45f-jpdvt +[INFO] [1714115341.611394483] [rcl]: Found security directory: /etc/demo_keystore/enclaves/talker_listener/listener +[INFO] [1714115342.633319407] [listener]: I heard: [Hello World: 1] +... +``` + + Besides that, we can jump in the container and use `ros2cli` to see the ROS 2 system. + Since `ros2cli` is not bound to security enclaves, it cannot discover any nodes or topics as following. + This also indicates that security authentication and access permission works just as expected. + +```bash +root@ros2-secured-listener-78784df45f-jpdvt:/# ros2 node list +root@ros2-secured-listener-78784df45f-jpdvt:/# ros2 topic list +/parameter_events +/rosout +``` diff --git a/images/ros2_security_enclaves.png b/images/ros2_security_enclaves.png new file mode 100644 index 0000000000000000000000000000000000000000..711367fd074ff1b69e4a12d2756cc645e874459d GIT binary patch literal 181514 zcmeFYRa9J2)Bf4G1xSK>2o4Dn+zA@o-9m788i$17!M$+^?(Xg`jk~+MGbiu+|Grss zH+OS0St~$8_v+L8RMoC}p5G2ukdr`1B}4^*KCAUQvvV| z#qOJ?BM5}i{qH|a90LXs2=oCYDf(5#HRWj8)KjJB1@X+(1KBAESek+Xp?@Q2O(6NQ7(0_jZ_hsWtjBDWk`5Q8M zDd+ps|9#MXExtkW-&X<8tY7)oEb_lEnkb_zB7TVFi%gCjj0v5>#Jq?l 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zu{@Zr{d$$V#@FaxXm51&)Hl|b?Yk>Lg$*UMdQog^`4|5GD|stvb|8%RpYjXk-`@4V zf4V?!*?)h&!v=BsKV{bXFZq8(pyppV;@{u@uk!z;*&z1_(reL*oLJIoN?F_^b(9lP zO-_&A?OmsYgHcof-48|S6NLR=1_87&Do)9K+O)E0X_GNiE2yWx2%>!%q9o0ygb5!F zM~au$Ay%qdPN8XHg!=LV6ZBq0=~IyKPkcZHCcT)~qdh^EYI@hhsgn_xSshq^O)owUEL0{{saSS}Onm literal 0 HcmV?d00001 diff --git a/scripts/replace_simlink.sh b/scripts/replace_simlink.sh new file mode 100755 index 0000000..df3436b --- /dev/null +++ b/scripts/replace_simlink.sh @@ -0,0 +1,37 @@ +#!/bin/bash + +### enable debug +#set -exvfC +set -e + +# Directory to process +DIR="$1" + +# Ensure the directory is provided as an argument +if [ -z "$DIR" ]; then + echo "Usage: $0 " + exit 1 +fi + +# Check if the provided directory exists +if [ ! -d "$DIR" ]; then + echo "Error: Directory '$DIR' does not exist." + exit 1 +fi + +# Find all symbolic links in the directory (not recursively) +find "$DIR" -maxdepth 1 -type l | while read -r symlink; do + # Get the actual file to which the symbolic link points + target_file=$(readlink -f "$symlink") + + # If the target file doesn't exist, warn and skip + if [ ! -e "$target_file" ]; then + echo "Warning: Symbolic link '$symlink' points to a non-existent file." + continue + fi + + # Copy the content of the original file to the location of the symbolic link + cp "$target_file" "$symlink" && \ + echo "Replaced symbolic link '$symlink' with the actual file." || \ + echo "Error: Failed to replace symbolic link '$symlink'." +done diff --git a/yaml/ros2-security-config.yaml b/yaml/ros2-security-config.yaml new file mode 100644 index 0000000..3746fca --- /dev/null +++ b/yaml/ros2-security-config.yaml @@ -0,0 +1,9 @@ +apiVersion: v1 +kind: ConfigMap +metadata: + name: security-env-config + namespace: default +data: + ROS_SECURITY_KEYSTORE: /etc/demo_keystore + ROS_SECURITY_ENABLE: "true" + ROS_SECURITY_STRATEGY: Enforce diff --git a/yaml/ros2-security-sample.yaml b/yaml/ros2-security-sample.yaml new file mode 100644 index 0000000..6d5f1bd --- /dev/null +++ b/yaml/ros2-security-sample.yaml @@ -0,0 +1,89 @@ +apiVersion: apps/v1 +kind: Deployment +metadata: + name: ros2-secured-talker +spec: + replicas: 1 + selector: + matchLabels: + app: ros2-secured-talker + template: + metadata: + labels: + app: ros2-secured-talker + spec: + containers: + - image: tomoyafujita/ros:rolling + command: ["/bin/bash", "-c"] + # Bind the security environmental variable + envFrom: + - configMapRef: + name: security-env-config + # Start the application with security option + args: ["source /opt/ros/$ROS_DISTRO/setup.bash && ros2 run demo_nodes_cpp talker --ros-args --enclave /talker_listener/talker"] + imagePullPolicy: IfNotPresent + tty: true + name: ros2-secured-talker + # Bind the volume + volumeMounts: + - name: talker-security + mountPath: /etc/demo_keystore/enclaves/talker_listener/talker + # Create volume to bind from ConfigMap + volumes: + - name: talker-security + configMap: + name: talker-enclaves + tolerations: + - key: node-role.kubernetes.io/master + operator: Exists + effect: NoSchedule + - key: node-role.kubernetes.io/control-plane + operator: Exists + effect: NoSchedule + restartPolicy: Always + +--- + +apiVersion: apps/v1 +kind: Deployment +metadata: + name: ros2-secured-listener +spec: + replicas: 1 + selector: + matchLabels: + app: ros2-secured-listener + template: + metadata: + labels: + app: ros2-secured-listener + spec: + containers: + - image: tomoyafujita/ros:rolling + command: ["/bin/bash", "-c"] + # Bind the security environmental variable + envFrom: + - configMapRef: + name: security-env-config + # Start the application with security option + args: ["source /opt/ros/$ROS_DISTRO/setup.bash && ros2 run demo_nodes_cpp listener --ros-args --enclave /talker_listener/listener"] + imagePullPolicy: IfNotPresent + tty: true + name: ros2-secured-listener + # Bind the volume + volumeMounts: + - name: listener-security + mountPath: /etc/demo_keystore/enclaves/talker_listener/listener + # Create volume to bind from ConfigMap + volumes: + - name: listener-security + configMap: + name: listener-enclaves + tolerations: + - key: node-role.kubernetes.io/master + operator: Exists + effect: NoSchedule + - key: node-role.kubernetes.io/control-plane + operator: Exists + effect: NoSchedule + restartPolicy: Always