Ros2 security

Skill Leehyunbin0131/claude-ros2-skills/skills/ros2-security

SROS2: ros2 security CLI, PKI keystore, enclaves, access-control XML, DDS Security.From its SKILL.md

Install

npx -y skills add Leehyunbin0131/claude-ros2-skills --skill ros2-security

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One thing to look at

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SKILL.md

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ROS 2 Security (SROS2) Instructions (Ubuntu 24.04 LTS & ROS 2 Jazzy)

1. Architecture

SROS2 applies OMG DDS-Security (Fast DDS, Cyclone DDS) for node authentication (X.509 PKI), access control (Governance/Permissions XML), and topic/service encryption (AES-GCM-GMAC 128/256).

2. Documentation Entry Points

Concepts: https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Security.html
Tutorials (setup + access control): https://docs.ros.org/en/jazzy/Tutorials/Advanced/Security/Introducing-ros2-security.html

Verify ros2 security subcommands and the env vars ROS_SECURITY_ENABLE / ROS_SECURITY_STRATEGY / ROS_SECURITY_KEYSTORE there before use.

3. Key Concepts & Workflows

A. SROS2 CLI Commands

# 1. Create root keystore
ros2 security create_keystore ~/my_keystore

# 2. Create security enclave for node
ros2 security create_enclave ~/my_keystore /talker_listener/talker

# 3. Launch node inside enclave
export ROS_SECURITY_ENABLE=true
export ROS_SECURITY_STRATEGY=Enforce
export ROS_SECURITY_KEYSTORE=~/my_keystore

ros2 run demo_nodes_cpp talker --ros-args --enclave /talker_listener/talker

B. High-Level Access Control Policy (`policy.xml`)

<policy version="0.2.0">
  <enclaves>
    <enclave path="/talker_listener/talker">
      <profiles>
        <profile node="talker" ns="/">
          <topics publish="ALLOW">
            <topic>chatter</topic>
          </topics>
        </profile>
      </profiles>
    </enclave>
  </enclaves>
</policy>