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Expand node_secure_root using local_namespace #1

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Expand node_secure_root using local_namespace #1

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23 changes: 20 additions & 3 deletions rcl/src/rcl/node.c
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Original file line number Diff line number Diff line change
Expand Up @@ -99,7 +99,10 @@ const char * rcl_create_node_logger_name(
return node_logger_name;
}

const char * rcl_get_secure_root(const char * node_name, const rcl_allocator_t * allocator)
const char * rcl_get_secure_root(
const char * node_name,
const char * node_namespace,
const rcl_allocator_t * allocator)
{
const char * ros_secure_root_env = NULL;
if (NULL == node_name) {
Expand All @@ -115,7 +118,21 @@ const char * rcl_get_secure_root(const char * node_name, const rcl_allocator_t *
if (!ros_secure_root_size) {
return NULL; // environment variable was empty
}
char * node_secure_root = rcutils_join_path(ros_secure_root_env, node_name, *allocator);
char * node_secure_root = NULL;
// If the namespace is the root namespace ("/"), the secure root is just the node name.
if (strlen(node_namespace) == 1) {
node_secure_root = rcutils_join_path(ros_secure_root_env, node_name, *allocator);
} else {
char * node_fqn = NULL;
char * node_root_norm = NULL;
// Combine node namespace with node name
node_fqn = rcutils_format_string(*allocator, "%s%s%s", node_namespace, "/", node_name);
// Get normalized path, ignore the leading forward slash.
node_root_norm = rcutils_norm_path(node_fqn + 1, *allocator);
node_secure_root = rcutils_join_path(ros_secure_root_env, node_root_norm, *allocator);
allocator->deallocate(node_fqn, allocator->state);
allocator->deallocate(node_root_norm, allocator->state);
}
if (!rcutils_is_directory(node_secure_root)) {
allocator->deallocate(node_secure_root, allocator->state);
return NULL;
Expand Down Expand Up @@ -315,7 +332,7 @@ rcl_node_init(
node_security_options.enforce_security = RMW_SECURITY_ENFORCEMENT_PERMISSIVE;
} else { // if use_security
// File discovery magic here
const char * node_secure_root = rcl_get_secure_root(name, allocator);
const char * node_secure_root = rcl_get_secure_root(name, local_namespace_, allocator);
if (node_secure_root) {
node_security_options.security_root_path = node_secure_root;
} else {
Expand Down