Add udp_sniffer for ros2

aliasrobotics / aztarna

aztarna, a footprinting tool for robots.

https://aliasrobotics.com

GNU General Public License v3.0

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Add udp_sniffer for ros2 #7

Closed XabierPB closed 5 years ago

XabierPB commented 6 years ago

With this sniffer we are able to capture dds (UDP )messages in ROS 2 locally. The idea is to capture certain packets, modify their data and send them back to certain nodes. As all the packet fields are deserialized, any of the packet fields can be modified, bringing us full control over what we are resending.

XabierPB commented 6 years ago

Further explanation of the idea coming soon

vmayoral commented 6 years ago

Had a quick look. Code looks good to me. Well done!

vmayoral commented 5 years ago

LGTM.