diff --git a/README.md b/README.md index 47fb2ed7..1439a204 100644 --- a/README.md +++ b/README.md @@ -3,10 +3,10 @@ [![SROS2 CI](https://github.com/ros2/sros2/workflows/SROS2%20CI/badge.svg)](https://github.com/ros2/sros2/actions?query=workflow%3A%22SROS2+CI%22+branch%3Amaster) [![codecov](https://codecov.io/gh/ros2/sros2/branch/master/graph/badge.svg)](https://codecov.io/gh/ros2/sros2) -This package provides the tools and instructions to use ROS2 on top of DDS-Security. +This package provides the tools and instructions to use ROS 2 on top of DDS-Security. The security feature is tested across platforms (Linux, macOS, and Windows) as well as across different languages (C++ and Python). -Although we are designing SROS2 to work with any secure middleware, at the moment we are testing with RTI Connext Secure 5.3.1 and eProsima's Fast-RTPS 1.6.0. +This package has been tested against eProsima FastDDS, Eclipse CycloneDDS and RTI Connext. If you want to run the demo using RTI Connext Secure you will need a license for it and you will need to install it. These Tutorials are written for the latest state of the repository. diff --git a/SROS2_Linux.md b/SROS2_Linux.md index 77607963..171c5d07 100644 --- a/SROS2_Linux.md +++ b/SROS2_Linux.md @@ -85,13 +85,12 @@ These variables need to be defined in each terminal used for the demo. For conve ### Run the demo -ROS2 allows you to [change DDS implementation at runtime](https://docs.ros.org/en/rolling/Guides/Working-with-multiple-RMW-implementations.html). -This demo can be run with fastrtps by setting: -```bash -export RMW_IMPLEMENTATION=rmw_fastrtps_cpp -``` -And with Connext by setting: +ROS 2 allows you to [change DDS implementation at runtime](https://docs.ros.org/en/rolling/Guides/Working-with-multiple-RMW-implementations.html). +This demo can be run with FastDDS / CycloneDDS / ConnextDDS by setting the `RMW_IMPLEMENTATION` variable, e.g.: + ```bash +export RMW_IMPLEMENTATION=rmw_fastrtps_cpp # or +export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # or export RMW_IMPLEMENTATION=rmw_connextdds ``` @@ -116,6 +115,38 @@ Note: You can switch between the C++ (demo_nodes_cpp) and Python (demo_nodes_py) These nodes are able to communicate because we have created the appropriate keys and certificates for them. +To be able to use the ros2 CLI tools to interact with your secured system, you need to provide it with an override enclave: +```bash +export ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener +``` + +Then use the CLI as usual: + +```bash +ros2 node list +``` +``` +/talker +``` +```bash +ros2 topic list +``` +``` +/chatter +/parameter_events +/rosout +``` +```bash +ros2 topic echo /chatter +``` +``` +[INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener +data: 'Hello World: 257' +--- +data: 'Hello World: 258' +--- + +``` ### Run the demo on different machines @@ -166,16 +197,16 @@ To do this, we will use the sample policy file provided in `examples/sample_poli First, we will copy this sample policy file into our keystore: ```bash -sudo apt update && sudo apt install subversion +sudo apt update && sudo apt install git cd ~/sros2_demo -svn checkout https://github.com/ros2/sros2/trunk/sros2/test/policies +git clone https://github.com/ros2/sros2.git /tmp/sros2 ``` And now we will use it to generate the XML permission files expected by the middleware: ```bash -ros2 security create_permission demo_keystore /talker_listener/talker policies/sample.policy.xml -ros2 security create_permission demo_keystore /talker_listener/listener policies/sample.policy.xml +ros2 security create_permission demo_keystore /talker_listener/talker /tmp/sros2/sros2/test/policies/sample.policy.xml +ros2 security create_permission demo_keystore /talker_listener/listener /tmp/sros2/sros2/test/policies/sample.policy.xml ``` These permission files will be stricter than the ones that were used in the previous demo: the nodes will only be allowed to publish or subscribe to the `chatter` topic (and some other topics used for parameters). diff --git a/SROS2_MacOS.md b/SROS2_MacOS.md index 07945b7a..93ca3436 100644 --- a/SROS2_MacOS.md +++ b/SROS2_MacOS.md @@ -90,17 +90,16 @@ export ROS_SECURITY_ENABLE=true export ROS_SECURITY_STRATEGY=Enforce ``` -These variables need to be defined in each terminal used for the demo. For convenience you can add it to your bash_profile. +These variables need to be defined in each terminal used for the demo. For convenience you can add it to your `bash_profile`. ## Run the demo -ROS2 allows you to [change DDS implementation at runtime](https://docs.ros.org/en/rolling/Guides/Working-with-multiple-RMW-implementations.html). -This demo can be run with fastrtps by setting: -```bash -export RMW_IMPLEMENTATION=rmw_fastrtps_cpp -``` -And with Connext by setting: +ROS 2 allows you to [change DDS implementation at runtime](https://docs.ros.org/en/rolling/Guides/Working-with-multiple-RMW-implementations.html). +This demo can be run with FastDDS / CycloneDDS / ConnextDDS by setting the `RMW_IMPLEMENTATION` variable, e.g.: + ```bash +export RMW_IMPLEMENTATION=rmw_fastrtps_cpp # or +export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # or export RMW_IMPLEMENTATION=rmw_connextdds ``` @@ -126,6 +125,38 @@ Note: You can switch between the C++ and Python packages arbitrarily. These nodes are able to communicate because we have created the appropriate keys and certificates for them. +To be able to use the ros2 CLI tools to interact with your secured system, you need to provide it with an override enclave: +```bash +export ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener +``` + +Then use the CLI as usual: + +```bash +ros2 node list +``` +``` +/talker +``` +```bash +ros2 topic list +``` +``` +/chatter +/parameter_events +/rosout +``` +```bash +ros2 topic echo /chatter +``` +``` +[INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener +data: 'Hello World: 257' +--- +data: 'Hello World: 258' +--- + +``` ### Access Control @@ -137,14 +168,14 @@ To do this, we will use the sample policy file provided in `examples/sample_poli First, we will copy this sample policy file into our keystore: ```bash -svn checkout https://github.com/ros2/sros2/trunk/sros2/test/policies +git clone https://github.com/ros2/sros2.git /tmp/sros2 ``` And now we will use it to generate the XML permission files expected by the middleware: ```bash -ros2 security create_permission demo_keystore /talker_listener/talker policies/sample.policy.xml -ros2 security create_permission demo_keystore /talker_listener/listener policies/sample.policy.xml +ros2 security create_permission demo_keystore /talker_listener/talker /tmp/sros2/sros2/test/policies/sample.policy.xml +ros2 security create_permission demo_keystore /talker_listener/listener /tmp/sros2/sros2/test/policies/sample.policy.xml ``` These permission files will be stricter than the ones that were used in the previous demo: the nodes will only be allowed to publish or subscribe to the `chatter` topic (and some other topics used for parameters). diff --git a/SROS2_Windows.md b/SROS2_Windows.md index b33f1e01..c0e458d4 100644 --- a/SROS2_Windows.md +++ b/SROS2_Windows.md @@ -84,13 +84,12 @@ set ROS_SECURITY_STRATEGY=Enforce ## Run the demo -ROS2 allows you to [change DDS implementation at runtime](https://docs.ros.org/en/rolling/Guides/Working-with-multiple-RMW-implementations.html). -This demo can be run with fastrtps by setting: -```bat -set RMW_IMPLEMENTATION=rmw_fastrtps_cpp -``` -And with Connext by setting: +ROS 2 allows you to [change DDS implementation at runtime](https://docs.ros.org/en/rolling/Guides/Working-with-multiple-RMW-implementations.html). +This demo can be run with FastDDS / CycloneDDS / ConnextDDS by setting the `RMW_IMPLEMENTATION` variable, e.g.: + ```bat +set RMW_IMPLEMENTATION=rmw_fastrtps_cpp # or +set RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # or set RMW_IMPLEMENTATION=rmw_connextdds ``` @@ -125,6 +124,39 @@ Note: You can switch between the C++ (demo_nodes_cpp) and Python (demo_nodes_py) These nodes are able to communicate because we have created the appropriate keys and certificates for them. +To be able to use the ros2 CLI tools to interact with your secured system, you need to provide it with an override enclave: +```bat +set ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener +``` + +Then use the CLI as usual: + +```bat +ros2 node list +``` +``` +/talker +``` +```bat +ros2 topic list +``` +``` +/chatter +/parameter_events +/rosout +``` +```bat +ros2 topic echo /chatter +``` +``` +[INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener +data: 'Hello World: 257' +--- +data: 'Hello World: 258' +--- + +``` + ### Access Control The previous demo used authentication and encryption, but not access control, which means that any authenticated node would be able to publish and subscribe to any data stream (aka topic). diff --git a/sros2/test/policies/common/node.xml b/sros2/test/policies/common/node.xml index c39e1170..2da4ba6c 100644 --- a/sros2/test/policies/common/node.xml +++ b/sros2/test/policies/common/node.xml @@ -6,4 +6,6 @@ xpointer="xpointer(/profile/*)"/> + diff --git a/sros2/test/policies/common/node/types.xml b/sros2/test/policies/common/node/types.xml new file mode 100644 index 00000000..b9e76642 --- /dev/null +++ b/sros2/test/policies/common/node/types.xml @@ -0,0 +1,6 @@ + + + + ~/get_type_description + + diff --git a/sros2/test/policies/permissions/add_two_ints/permissions.xml b/sros2/test/policies/permissions/add_two_ints/permissions.xml index fc7f7d0d..f8f5a6dc 100644 --- a/sros2/test/policies/permissions/add_two_ints/permissions.xml +++ b/sros2/test/policies/permissions/add_two_ints/permissions.xml @@ -18,6 +18,7 @@ rq/add_two_ints_server/list_parametersRequest rq/add_two_ints_server/set_parametersRequest rq/add_two_ints_server/set_parameters_atomicallyRequest + rq/add_two_ints_server/get_type_descriptionRequest rr/add_two_intsReply rr/add_two_ints_server/describe_parametersReply rr/add_two_ints_server/get_parameter_typesReply @@ -25,6 +26,7 @@ rr/add_two_ints_server/list_parametersReply rr/add_two_ints_server/set_parametersReply rr/add_two_ints_server/set_parameters_atomicallyReply + rr/add_two_ints_server/get_type_descriptionReply rt/parameter_events rt/rosout @@ -70,12 +72,14 @@ rq/add_two_ints_client/list_parametersRequest rq/add_two_ints_client/set_parametersRequest rq/add_two_ints_client/set_parameters_atomicallyRequest + rq/add_two_ints_client/get_type_descriptionRequest rr/add_two_ints_client/describe_parametersReply rr/add_two_ints_client/get_parameter_typesReply rr/add_two_ints_client/get_parametersReply rr/add_two_ints_client/list_parametersReply rr/add_two_ints_client/set_parametersReply rr/add_two_ints_client/set_parameters_atomicallyReply + rr/add_two_ints_client/get_type_descriptionReply rt/parameter_events rt/rosout @@ -88,6 +92,7 @@ rq/add_two_ints_client/list_parametersRequest rq/add_two_ints_client/set_parametersRequest rq/add_two_ints_client/set_parameters_atomicallyRequest + rq/add_two_ints_client/get_type_descriptionRequest rr/add_two_intsReply rr/add_two_ints_client/describe_parametersReply rr/add_two_ints_client/get_parameter_typesReply @@ -95,6 +100,7 @@ rr/add_two_ints_client/list_parametersReply rr/add_two_ints_client/set_parametersReply rr/add_two_ints_client/set_parameters_atomicallyReply + rr/add_two_ints_client/get_type_descriptionReply rt/clock rt/parameter_events diff --git a/sros2/test/policies/permissions/minimal_action/permissions.xml b/sros2/test/policies/permissions/minimal_action/permissions.xml index 2a0b4766..be2153b1 100644 --- a/sros2/test/policies/permissions/minimal_action/permissions.xml +++ b/sros2/test/policies/permissions/minimal_action/permissions.xml @@ -18,6 +18,7 @@ rq/minimal_action_server/list_parametersRequest rq/minimal_action_server/set_parametersRequest rq/minimal_action_server/set_parameters_atomicallyRequest + rq/minimal_action_server/get_type_descriptionRequest rr/fibonacci/_action/cancel_goalReply rr/fibonacci/_action/get_resultReply rr/fibonacci/_action/send_goalReply @@ -29,6 +30,7 @@ rr/minimal_action_server/list_parametersReply rr/minimal_action_server/set_parametersReply rr/minimal_action_server/set_parameters_atomicallyReply + rr/minimal_action_server/get_type_descriptionReply rt/parameter_events rt/rosout @@ -44,12 +46,14 @@ rq/minimal_action_server/list_parametersRequest rq/minimal_action_server/set_parametersRequest rq/minimal_action_server/set_parameters_atomicallyRequest + rq/minimal_action_server/get_type_descriptionRequest rr/minimal_action_server/describe_parametersReply rr/minimal_action_server/get_parameter_typesReply rr/minimal_action_server/get_parametersReply rr/minimal_action_server/list_parametersReply rr/minimal_action_server/set_parametersReply rr/minimal_action_server/set_parameters_atomicallyReply + rr/minimal_action_server/get_type_descriptionReply rt/clock rt/parameter_events @@ -78,12 +82,14 @@ rq/minimal_action_client/list_parametersRequest rq/minimal_action_client/set_parametersRequest rq/minimal_action_client/set_parameters_atomicallyRequest + rq/minimal_action_client/get_type_descriptionRequest rr/minimal_action_client/describe_parametersReply rr/minimal_action_client/get_parameter_typesReply rr/minimal_action_client/get_parametersReply rr/minimal_action_client/list_parametersReply rr/minimal_action_client/set_parametersReply rr/minimal_action_client/set_parameters_atomicallyReply + rr/minimal_action_client/get_type_descriptionReply rt/parameter_events rt/rosout @@ -96,6 +102,7 @@ rq/minimal_action_client/list_parametersRequest rq/minimal_action_client/set_parametersRequest rq/minimal_action_client/set_parameters_atomicallyRequest + rq/minimal_action_client/get_type_descriptionRequest rr/fibonacci/_action/cancel_goalReply rr/fibonacci/_action/get_resultReply rr/fibonacci/_action/send_goalReply @@ -107,6 +114,7 @@ rr/minimal_action_client/list_parametersReply rr/minimal_action_client/set_parametersReply rr/minimal_action_client/set_parameters_atomicallyReply + rr/minimal_action_client/get_type_descriptionReply rt/clock rt/parameter_events diff --git a/sros2/test/policies/permissions/sample/permissions.xml b/sros2/test/policies/permissions/sample/permissions.xml index e9cac69d..9400c4a8 100644 --- a/sros2/test/policies/permissions/sample/permissions.xml +++ b/sros2/test/policies/permissions/sample/permissions.xml @@ -18,12 +18,14 @@ rq/talker/list_parametersRequest rq/talker/set_parametersRequest rq/talker/set_parameters_atomicallyRequest + rq/talker/get_type_descriptionRequest rr/talker/describe_parametersReply rr/talker/get_parameter_typesReply rr/talker/get_parametersReply rr/talker/list_parametersReply rr/talker/set_parametersReply rr/talker/set_parameters_atomicallyReply + rr/talker/get_type_descriptionReply rt/chatter rt/parameter_events rt/rosout @@ -37,12 +39,14 @@ rq/talker/list_parametersRequest rq/talker/set_parametersRequest rq/talker/set_parameters_atomicallyRequest + rq/talker/get_type_descriptionRequest rr/talker/describe_parametersReply rr/talker/get_parameter_typesReply rr/talker/get_parametersReply rr/talker/list_parametersReply rr/talker/set_parametersReply rr/talker/set_parameters_atomicallyReply + rr/talker/get_type_descriptionReply rt/clock rt/parameter_events @@ -68,12 +72,14 @@ rq/listener/list_parametersRequest rq/listener/set_parametersRequest rq/listener/set_parameters_atomicallyRequest + rq/listener/get_type_descriptionRequest rr/listener/describe_parametersReply rr/listener/get_parameter_typesReply rr/listener/get_parametersReply rr/listener/list_parametersReply rr/listener/set_parametersReply rr/listener/set_parameters_atomicallyReply + rr/listener/get_type_descriptionReply rt/parameter_events rt/rosout @@ -86,12 +92,14 @@ rq/listener/list_parametersRequest rq/listener/set_parametersRequest rq/listener/set_parameters_atomicallyRequest + rq/listener/get_type_descriptionRequest rr/listener/describe_parametersReply rr/listener/get_parameter_typesReply rr/listener/get_parametersReply rr/listener/list_parametersReply rr/listener/set_parametersReply rr/listener/set_parameters_atomicallyReply + rr/listener/get_type_descriptionReply rt/chatter rt/clock rt/parameter_events @@ -118,6 +126,7 @@ rq/add_two_ints_server/list_parametersRequest rq/add_two_ints_server/set_parametersRequest rq/add_two_ints_server/set_parameters_atomicallyRequest + rq/add_two_ints_server/get_type_descriptionRequest rr/add_two_intsReply rr/add_two_ints_server/describe_parametersReply rr/add_two_ints_server/get_parameter_typesReply @@ -125,6 +134,7 @@ rr/add_two_ints_server/list_parametersReply rr/add_two_ints_server/set_parametersReply rr/add_two_ints_server/set_parameters_atomicallyReply + rr/add_two_ints_server/get_type_descriptionReply rt/parameter_events rt/rosout @@ -138,12 +148,14 @@ rq/add_two_ints_server/list_parametersRequest rq/add_two_ints_server/set_parametersRequest rq/add_two_ints_server/set_parameters_atomicallyRequest + rq/add_two_ints_server/get_type_descriptionRequest rr/add_two_ints_server/describe_parametersReply rr/add_two_ints_server/get_parameter_typesReply rr/add_two_ints_server/get_parametersReply rr/add_two_ints_server/list_parametersReply rr/add_two_ints_server/set_parametersReply rr/add_two_ints_server/set_parameters_atomicallyReply + rr/add_two_ints_server/get_type_descriptionReply rt/clock rt/parameter_events @@ -170,12 +182,14 @@ rq/add_two_ints_client/list_parametersRequest rq/add_two_ints_client/set_parametersRequest rq/add_two_ints_client/set_parameters_atomicallyRequest + rq/add_two_ints_client/get_type_descriptionRequest rr/add_two_ints_client/describe_parametersReply rr/add_two_ints_client/get_parameter_typesReply rr/add_two_ints_client/get_parametersReply rr/add_two_ints_client/list_parametersReply rr/add_two_ints_client/set_parametersReply rr/add_two_ints_client/set_parameters_atomicallyReply + rr/add_two_ints_client/get_type_descriptionReply rt/parameter_events rt/rosout @@ -188,6 +202,7 @@ rq/add_two_ints_client/list_parametersRequest rq/add_two_ints_client/set_parametersRequest rq/add_two_ints_client/set_parameters_atomicallyRequest + rq/add_two_ints_client/get_type_descriptionRequest rr/add_two_intsReply rr/add_two_ints_client/describe_parametersReply rr/add_two_ints_client/get_parameter_typesReply @@ -195,6 +210,7 @@ rr/add_two_ints_client/list_parametersReply rr/add_two_ints_client/set_parametersReply rr/add_two_ints_client/set_parameters_atomicallyReply + rr/add_two_ints_client/get_type_descriptionReply rt/clock rt/parameter_events @@ -220,6 +236,7 @@ rq/minimal_action_server/list_parametersRequest rq/minimal_action_server/set_parametersRequest rq/minimal_action_server/set_parameters_atomicallyRequest + rq/minimal_action_server/get_type_descriptionRequest rr/fibonacci/_action/cancel_goalReply rr/fibonacci/_action/get_resultReply rr/fibonacci/_action/send_goalReply @@ -231,6 +248,7 @@ rr/minimal_action_server/list_parametersReply rr/minimal_action_server/set_parametersReply rr/minimal_action_server/set_parameters_atomicallyReply + rr/minimal_action_server/get_type_descriptionReply rt/parameter_events rt/rosout @@ -246,12 +264,14 @@ rq/minimal_action_server/list_parametersRequest rq/minimal_action_server/set_parametersRequest rq/minimal_action_server/set_parameters_atomicallyRequest + rq/minimal_action_server/get_type_descriptionRequest rr/minimal_action_server/describe_parametersReply rr/minimal_action_server/get_parameter_typesReply rr/minimal_action_server/get_parametersReply rr/minimal_action_server/list_parametersReply rr/minimal_action_server/set_parametersReply rr/minimal_action_server/set_parameters_atomicallyReply + rr/minimal_action_server/get_type_descriptionReply rt/clock rt/parameter_events @@ -280,12 +300,14 @@ rq/minimal_action_client/list_parametersRequest rq/minimal_action_client/set_parametersRequest rq/minimal_action_client/set_parameters_atomicallyRequest + rq/minimal_action_client/get_type_descriptionRequest rr/minimal_action_client/describe_parametersReply rr/minimal_action_client/get_parameter_typesReply rr/minimal_action_client/get_parametersReply rr/minimal_action_client/list_parametersReply rr/minimal_action_client/set_parametersReply rr/minimal_action_client/set_parameters_atomicallyReply + rr/minimal_action_client/get_type_descriptionReply rt/parameter_events rt/rosout @@ -298,6 +320,7 @@ rq/minimal_action_client/list_parametersRequest rq/minimal_action_client/set_parametersRequest rq/minimal_action_client/set_parameters_atomicallyRequest + rq/minimal_action_client/get_type_descriptionRequest rr/fibonacci/_action/cancel_goalReply rr/fibonacci/_action/get_resultReply rr/fibonacci/_action/send_goalReply @@ -309,6 +332,7 @@ rr/minimal_action_client/list_parametersReply rr/minimal_action_client/set_parametersReply rr/minimal_action_client/set_parameters_atomicallyReply + rr/minimal_action_client/get_type_descriptionReply rt/clock rt/parameter_events @@ -335,6 +359,7 @@ rq/admin/list_parametersRequest rq/admin/set_parametersRequest rq/admin/set_parameters_atomicallyRequest + rq/admin/get_type_descriptionRequest rq/fibonacci/_action/cancel_goalRequest rq/fibonacci/_action/get_resultRequest rq/fibonacci/_action/send_goalRequest @@ -345,6 +370,7 @@ rr/admin/list_parametersReply rr/admin/set_parametersReply rr/admin/set_parameters_atomicallyReply + rr/admin/get_type_descriptionReply rr/fibonacci/_action/cancel_goalReply rr/fibonacci/_action/get_resultReply rr/fibonacci/_action/send_goalReply @@ -364,6 +390,7 @@ rq/admin/list_parametersRequest rq/admin/set_parametersRequest rq/admin/set_parameters_atomicallyRequest + rq/admin/get_type_descriptionRequest rq/fibonacci/_action/cancel_goalRequest rq/fibonacci/_action/get_resultRequest rq/fibonacci/_action/send_goalRequest @@ -374,6 +401,7 @@ rr/admin/list_parametersReply rr/admin/set_parametersReply rr/admin/set_parameters_atomicallyReply + rr/admin/get_type_descriptionReply rr/fibonacci/_action/cancel_goalReply rr/fibonacci/_action/get_resultReply rr/fibonacci/_action/send_goalReply diff --git a/sros2/test/policies/permissions/single_context/permissions.xml b/sros2/test/policies/permissions/single_context/permissions.xml index 180dcc47..b54e3c56 100644 --- a/sros2/test/policies/permissions/single_context/permissions.xml +++ b/sros2/test/policies/permissions/single_context/permissions.xml @@ -19,12 +19,14 @@ rq/add_two_ints_client/list_parametersRequest rq/add_two_ints_client/set_parametersRequest rq/add_two_ints_client/set_parameters_atomicallyRequest + rq/add_two_ints_client/get_type_descriptionRequest rq/add_two_ints_server/describe_parametersRequest rq/add_two_ints_server/get_parameter_typesRequest rq/add_two_ints_server/get_parametersRequest rq/add_two_ints_server/list_parametersRequest rq/add_two_ints_server/set_parametersRequest rq/add_two_ints_server/set_parameters_atomicallyRequest + rq/add_two_ints_server/get_type_descriptionRequest rq/fibonacci/_action/cancel_goalRequest rq/fibonacci/_action/get_resultRequest rq/fibonacci/_action/send_goalRequest @@ -34,24 +36,28 @@ rq/listener/list_parametersRequest rq/listener/set_parametersRequest rq/listener/set_parameters_atomicallyRequest + rq/listener/get_type_descriptionRequest rq/minimal_action_client/describe_parametersRequest rq/minimal_action_client/get_parameter_typesRequest rq/minimal_action_client/get_parametersRequest rq/minimal_action_client/list_parametersRequest rq/minimal_action_client/set_parametersRequest rq/minimal_action_client/set_parameters_atomicallyRequest + rq/minimal_action_client/get_type_descriptionRequest rq/minimal_action_server/describe_parametersRequest rq/minimal_action_server/get_parameter_typesRequest rq/minimal_action_server/get_parametersRequest rq/minimal_action_server/list_parametersRequest rq/minimal_action_server/set_parametersRequest rq/minimal_action_server/set_parameters_atomicallyRequest + rq/minimal_action_server/get_type_descriptionRequest rq/talker/describe_parametersRequest rq/talker/get_parameter_typesRequest rq/talker/get_parametersRequest rq/talker/list_parametersRequest rq/talker/set_parametersRequest rq/talker/set_parameters_atomicallyRequest + rq/talker/get_type_descriptionRequest rr/add_two_intsReply rr/add_two_ints_client/describe_parametersReply rr/add_two_ints_client/get_parameter_typesReply @@ -59,12 +65,14 @@ rr/add_two_ints_client/list_parametersReply rr/add_two_ints_client/set_parametersReply rr/add_two_ints_client/set_parameters_atomicallyReply + rr/add_two_ints_client/get_type_descriptionReply rr/add_two_ints_server/describe_parametersReply rr/add_two_ints_server/get_parameter_typesReply rr/add_two_ints_server/get_parametersReply rr/add_two_ints_server/list_parametersReply rr/add_two_ints_server/set_parametersReply rr/add_two_ints_server/set_parameters_atomicallyReply + rr/add_two_ints_server/get_type_descriptionReply rr/fibonacci/_action/cancel_goalReply rr/fibonacci/_action/get_resultReply rr/fibonacci/_action/send_goalReply @@ -76,24 +84,28 @@ rr/listener/list_parametersReply rr/listener/set_parametersReply rr/listener/set_parameters_atomicallyReply + rr/listener/get_type_descriptionReply rr/minimal_action_client/describe_parametersReply rr/minimal_action_client/get_parameter_typesReply rr/minimal_action_client/get_parametersReply rr/minimal_action_client/list_parametersReply rr/minimal_action_client/set_parametersReply rr/minimal_action_client/set_parameters_atomicallyReply + rr/minimal_action_client/get_type_descriptionReply rr/minimal_action_server/describe_parametersReply rr/minimal_action_server/get_parameter_typesReply rr/minimal_action_server/get_parametersReply rr/minimal_action_server/list_parametersReply rr/minimal_action_server/set_parametersReply rr/minimal_action_server/set_parameters_atomicallyReply + rr/minimal_action_server/get_type_descriptionReply rr/talker/describe_parametersReply rr/talker/get_parameter_typesReply rr/talker/get_parametersReply rr/talker/list_parametersReply rr/talker/set_parametersReply rr/talker/set_parameters_atomicallyReply + rr/talker/get_type_descriptionReply rt/chatter rt/parameter_events rt/rosout @@ -108,12 +120,14 @@ rq/add_two_ints_client/list_parametersRequest rq/add_two_ints_client/set_parametersRequest rq/add_two_ints_client/set_parameters_atomicallyRequest + rq/add_two_ints_client/get_type_descriptionRequest rq/add_two_ints_server/describe_parametersRequest rq/add_two_ints_server/get_parameter_typesRequest rq/add_two_ints_server/get_parametersRequest rq/add_two_ints_server/list_parametersRequest rq/add_two_ints_server/set_parametersRequest rq/add_two_ints_server/set_parameters_atomicallyRequest + rq/add_two_ints_server/get_type_descriptionRequest rq/fibonacci/_action/cancel_goalRequest rq/fibonacci/_action/get_resultRequest rq/fibonacci/_action/send_goalRequest @@ -123,24 +137,28 @@ rq/listener/list_parametersRequest rq/listener/set_parametersRequest rq/listener/set_parameters_atomicallyRequest + rq/listener/get_type_descriptionRequest rq/minimal_action_client/describe_parametersRequest rq/minimal_action_client/get_parameter_typesRequest rq/minimal_action_client/get_parametersRequest rq/minimal_action_client/list_parametersRequest rq/minimal_action_client/set_parametersRequest rq/minimal_action_client/set_parameters_atomicallyRequest + rq/minimal_action_client/get_type_descriptionRequest rq/minimal_action_server/describe_parametersRequest rq/minimal_action_server/get_parameter_typesRequest rq/minimal_action_server/get_parametersRequest rq/minimal_action_server/list_parametersRequest rq/minimal_action_server/set_parametersRequest rq/minimal_action_server/set_parameters_atomicallyRequest + rq/minimal_action_server/get_type_descriptionRequest rq/talker/describe_parametersRequest rq/talker/get_parameter_typesRequest rq/talker/get_parametersRequest rq/talker/list_parametersRequest rq/talker/set_parametersRequest rq/talker/set_parameters_atomicallyRequest + rq/talker/get_type_descriptionRequest rr/add_two_intsReply rr/add_two_ints_client/describe_parametersReply rr/add_two_ints_client/get_parameter_typesReply @@ -148,12 +166,14 @@ rr/add_two_ints_client/list_parametersReply rr/add_two_ints_client/set_parametersReply rr/add_two_ints_client/set_parameters_atomicallyReply + rr/add_two_ints_client/get_type_descriptionReply rr/add_two_ints_server/describe_parametersReply rr/add_two_ints_server/get_parameter_typesReply rr/add_two_ints_server/get_parametersReply rr/add_two_ints_server/list_parametersReply rr/add_two_ints_server/set_parametersReply rr/add_two_ints_server/set_parameters_atomicallyReply + rr/add_two_ints_server/get_type_descriptionReply rr/fibonacci/_action/cancel_goalReply rr/fibonacci/_action/get_resultReply rr/fibonacci/_action/send_goalReply @@ -165,24 +185,28 @@ rr/listener/list_parametersReply rr/listener/set_parametersReply rr/listener/set_parameters_atomicallyReply + rr/listener/get_type_descriptionReply rr/minimal_action_client/describe_parametersReply rr/minimal_action_client/get_parameter_typesReply rr/minimal_action_client/get_parametersReply rr/minimal_action_client/list_parametersReply rr/minimal_action_client/set_parametersReply rr/minimal_action_client/set_parameters_atomicallyReply + rr/minimal_action_client/get_type_descriptionReply rr/minimal_action_server/describe_parametersReply rr/minimal_action_server/get_parameter_typesReply rr/minimal_action_server/get_parametersReply rr/minimal_action_server/list_parametersReply rr/minimal_action_server/set_parametersReply rr/minimal_action_server/set_parameters_atomicallyReply + rr/minimal_action_server/get_type_descriptionReply rr/talker/describe_parametersReply rr/talker/get_parameter_typesReply rr/talker/get_parametersReply rr/talker/list_parametersReply rr/talker/set_parametersReply rr/talker/set_parameters_atomicallyReply + rr/talker/get_type_descriptionReply rt/chatter rt/clock rt/parameter_events diff --git a/sros2/test/policies/permissions/talker_listener/permissions.xml b/sros2/test/policies/permissions/talker_listener/permissions.xml index df53632d..8f0b6166 100644 --- a/sros2/test/policies/permissions/talker_listener/permissions.xml +++ b/sros2/test/policies/permissions/talker_listener/permissions.xml @@ -18,12 +18,14 @@ rq/talker/list_parametersRequest rq/talker/set_parametersRequest rq/talker/set_parameters_atomicallyRequest + rq/talker/get_type_descriptionRequest rr/talker/describe_parametersReply rr/talker/get_parameter_typesReply rr/talker/get_parametersReply rr/talker/list_parametersReply rr/talker/set_parametersReply rr/talker/set_parameters_atomicallyReply + rr/talker/get_type_descriptionReply rt/chatter rt/parameter_events rt/rosout @@ -37,12 +39,14 @@ rq/talker/list_parametersRequest rq/talker/set_parametersRequest rq/talker/set_parameters_atomicallyRequest + rq/talker/get_type_descriptionRequest rr/talker/describe_parametersReply rr/talker/get_parameter_typesReply rr/talker/get_parametersReply rr/talker/list_parametersReply rr/talker/set_parametersReply rr/talker/set_parameters_atomicallyReply + rr/talker/get_type_descriptionReply rt/clock rt/parameter_events @@ -68,12 +72,14 @@ rq/listener/list_parametersRequest rq/listener/set_parametersRequest rq/listener/set_parameters_atomicallyRequest + rq/listener/get_type_descriptionRequest rr/listener/describe_parametersReply rr/listener/get_parameter_typesReply rr/listener/get_parametersReply rr/listener/list_parametersReply rr/listener/set_parametersReply rr/listener/set_parameters_atomicallyReply + rr/listener/get_type_descriptionReply rt/parameter_events rt/rosout @@ -86,12 +92,14 @@ rq/listener/list_parametersRequest rq/listener/set_parametersRequest rq/listener/set_parameters_atomicallyRequest + rq/listener/get_type_descriptionRequest rr/listener/describe_parametersReply rr/listener/get_parameter_typesReply rr/listener/get_parametersReply rr/listener/list_parametersReply rr/listener/set_parametersReply rr/listener/set_parameters_atomicallyReply + rr/listener/get_type_descriptionReply rt/chatter rt/clock rt/parameter_events