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Ros2 service crystal #71

Merged
merged 7 commits into from
Jan 11, 2019
Merged

Commits on Nov 28, 2018

  1. Add generate permissions security command line

    Generate an sros2 yaml permissions file with the permissions of every visible node
    on the dds network.
    
    Add custom service security to sros2
    
    Example: run the minimal_publisher_lambda node
    Execute: `ros2 security generate_permissions node_policies.yaml`
    
    It will create the following file in the current directory:
    ```
    /minimal_publisher:
      services:
        /minimal_publisher/describe_parameters:
          allows:
          - request
          - reply
          .
          .
          .
      topics:
        /parameter_events:
          allows:
          - publish
          - subscribe
        /topic:
          allows:
          - publish
    ```
    
    cr https://code.amazon.com/reviews/CR-3943967
    ross-desmond committed Nov 28, 2018
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  2. Proposed policy definition changes

    Issue: services and actions are not considered in the policy yaml
    definition.
    Solution: Add ipc types (services and actions)
    
    Issue: access values are strings with p, s, or ps in order. This is not
    descriptive and difficult to scale should more permissions become necessary.
    Solution: Either change the parsing of the string or change the yaml to
    be more flexible and descriptive for users.
    
    The proposed changes include:
    * Access value is a list, not a string
    * Add ipc types such as actions and services
    * Access values are no longer shorthand p or s, but publish/subscribe
    
    Amend policy definition with verbose ROS ipc types
    ross-desmond committed Nov 28, 2018
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  3. cmake security macro

    Add security macro for automagically generating public and private keys
    for authentication and encryption.
    
    custom macro use
    `ros2_secure_node(NODES node_name_1 node_name_2 ...)`
    
    cr https://code.amazon.com/reviews/CR-3517594
    ross-desmond committed Nov 28, 2018
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Commits on Jan 9, 2019

  1. Addresses comments from pull-71

    * Adds check to allow "/" or no "/" in permissions file
    * Renames policy definition file to markdown
    ross-desmond committed Jan 9, 2019
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Commits on Jan 10, 2019

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