This Tool is Out Dated

[DONJAGA]

In the latest ROS noetic none of any TCP robotic arm communication packets are dissected by this Lua script.
Its looks like this

0000   18 1d ea d4 60 07 08 00 27 0e b6 e9 08 00 45 00   ....`...'.....E.
0010   03 b7 8e cf 40 00 40 06 72 cd 0a 18 11 52 0a 18   ....@.@.r....R..
0020   10 23 df 75 b7 ac 17 d3 42 b3 1e 4b 61 1f 80 18   .#.u....B..Ka...
0030   01 fc 6f ee 00 00 01 01 08 0a 9a c2 08 8e 27 5e   ..o...........'^
0040   98 14 7f 03 00 00 09 00 00 00 00 00 00 00 bb dd   ................
0050   9a 61 06 fb a4 2d 0a 00 00 00 70 61 6e 64 61 5f   .a...-....panda_
0060   68 61 6e 64 10 00 00 00 70 61 6e 64 61 5f 6c 65   hand....panda_le
0070   66 74 66 69 6e 67 65 72 00 00 00 00 00 00 00 00   ftfinger........
0080   ec 51 b8 1e 85 eb a1 3f 9f 3c 2c d4 9a e6 ad 3f   .Q.....?.<,....?
0090   00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00   ................
00a0   00 00 00 00 00 00 00 00 00 00 00 00 00 00 f0 3f   ...............?
00b0   00 00 00 00 bb dd 9a 61 06 fb a4 2d 0a 00 00 00   .......a...-....
00c0   70 61 6e 64 61 5f 68 61 6e 64 11 00 00 00 70 61   panda_hand....pa
00d0   6e 64 61 5f 72 69 67 68 74 66 69 6e 67 65 72 00   nda_rightfinger.
00e0   00 00 00 00 00 00 00 ec 51 b8 1e 85 eb a1 bf 9f   ........Q.......
00f0   3c 2c d4 9a e6 ad 3f 00 00 00 00 00 00 00 00 00   <,....?.........
0100   00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00   ................
0110   00 00 00 00 00 f0 3f 00 00 00 00 bb dd 9a 61 06   ......?.......a.
0120   fb a4 2d 0b 00 00 00 70 61 6e 64 61 5f 6c 69 6e   ..-....panda_lin
0130   6b 30 0b 00 00 00 70 61 6e 64 61 5f 6c 69 6e 6b   k0....panda_link
0140   31 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00   1...............
0150   00 1d 5a 64 3b df 4f d5 3f 00 00 00 00 00 00 00   ..Zd;.O.?.......
0160   00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00   ................
0170   00 00 00 00 00 00 00 f0 3f 00 00 00 00 bb dd 9a   ........?.......
0180   61 06 fb a4 2d 0b 00 00 00 70 61 6e 64 61 5f 6c   a...-....panda_l
0190   69 6e 6b 31 0b 00 00 00 70 61 6e 64 61 5f 6c 69   ink1....panda_li
01a0   6e 6b 32 00 00 00 00 00 00 00 00 00 00 00 00 00   nk2.............
01b0   00 00 00 00 00 00 00 00 00 00 00 e9 e6 27 84 1f   .............'..
01c0   e8 e4 bf e9 f0 1d f7 58 4f d1 bf ea f0 1d f7 58   .......XO......X
01d0   4f d1 bf e9 e6 27 84 1f e8 e4 3f 00 00 00 00 bb   O....'....?.....
01e0   dd 9a 61 06 fb a4 2d 0b 00 00 00 70 61 6e 64 61   ..a...-....panda
01f0   5f 6c 69 6e 6b 32 0b 00 00 00 70 61 6e 64 61 5f   _link2....panda_
0200   6c 69 6e 6b 33 00 00 00 00 00 00 00 00 d3 4d 62   link3.........Mb
0210   10 58 39 d4 bf 00 00 00 00 00 00 00 00 cc 3b 7f   .X9...........;.
0220   66 9e a0 e6 3f 00 00 00 00 00 00 00 00 00 00 00   f...?...........
0230   00 00 00 00 00 cd 3b 7f 66 9e a0 e6 3f 00 00 00   ......;.f...?...
0240   00 bb dd 9a 61 06 fb a4 2d 0b 00 00 00 70 61 6e   ....a...-....pan
0250   64 61 5f 6c 69 6e 6b 33 0b 00 00 00 70 61 6e 64   da_link3....pand
0260   61 5f 6c 69 6e 6b 34 1f 85 eb 51 b8 1e b5 3f 00   a_link4...Q...?.
0270   00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 2b   ...............+
0280   c7 9a ef 84 52 d1 bf 37 f7 35 60 77 e7 e4 bf 38   ....R..7.5`w...8
0290   f7 35 60 77 e7 e4 3f 2c c7 9a ef 84 52 d1 bf 00   .5`w..?,....R...
02a0   00 00 00 bb dd 9a 61 06 fb a4 2d 0b 00 00 00 70   ......a...-....p
02b0   61 6e 64 61 5f 6c 69 6e 6b 34 0b 00 00 00 70 61   anda_link4....pa
02c0   6e 64 61 5f 6c 69 6e 6b 35 1f 85 eb 51 b8 1e b5   nda_link5...Q...
02d0   bf fa 7e 6a bc 74 93 d8 3f 00 00 00 00 00 00 00   ..~j.t..?.......
02e0   00 cc 3b 7f 66 9e a0 e6 bf 00 00 00 00 00 00 00   ..;.f...........
02f0   00 00 00 00 00 00 00 00 00 cd 3b 7f 66 9e a0 e6   ..........;.f...
0300   3f 00 00 00 00 bb dd 9a 61 06 fb a4 2d 0b 00 00   ?.......a...-...
0310   00 70 61 6e 64 61 5f 6c 69 6e 6b 35 0b 00 00 00   .panda_link5....
0320   70 61 6e 64 61 5f 6c 69 6e 6b 36 00 00 00 00 00   panda_link6.....
0330   00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00   ................
0340   00 00 00 94 46 1b 6c 2a ff df 3f 89 b1 29 c7 6a   ....F.l*..?..).j
0350   00 e0 bf 8a b1 29 c7 6a 00 e0 3f 96 46 1b 6c 2a   .....).j..?.F.l*
0360   ff df 3f 00 00 00 00 bb dd 9a 61 06 fb a4 2d 0b   ..?.......a...-.
0370   00 00 00 70 61 6e 64 61 5f 6c 69 6e 6b 36 0b 00   ...panda_link6..
0380   00 00 70 61 6e 64 61 5f 6c 69 6e 6b 37 ba 49 0c   ..panda_link7.I.
0390   02 2b 87 b6 3f 00 00 00 00 00 00 00 00 00 00 00   .+..?...........
03a0   00 00 00 00 00 e9 e6 27 84 1f e8 e4 3f e9 f0 1d   .......'....?...
03b0   f7 58 4f d1 bf ea f0 1d f7 58 4f d1 3f e9 e6 27   .XO......XO.?..'
03c0   84 1f e8 e4 3f                                    ....?

[gavanderhoorn]

The Wireshark dissector in this repository is for the Simple Message protocol only (ie: this protocol).

In the data you show, I see strings such as panda_link5 and panda_rightfinger, which leads me to believe this is not a capture of Simple Message traffic -- as the Franka Emika Panda does not use Simple Message.

If this is a capture of TCPROS or UDPROS, you would need to use a different dissector.

[gavanderhoorn]

As I don't believe there is anything wrong with the dissector in this repository, I'm going to close the issue.

We'll re-open if it turns out something does need to be fixed here.

Feel free to keep commenting on the issue of course.

[DONJAGA]

Hello G.A. vd. Hoorn,

Thank you for your answer.

I am researching ROS-Security and correct me if I am wrong. I found that in the Franka documentation the communication uses "franka_msgs" which share similar elements to simple message structure.

As you stated that this dissector is only working with Simple Message Protocol and is there any way of enhancing this dissector to correlate with "franka_msgs"?

[gavanderhoorn]

No, Simple Message and TCPROS/UDPROS are completely different.

Wireshark natively supports TCPROS/UDPROS, so you wouldn't need any .lua dissectors.

Also:

I found that in the Franka documentation the communication uses "franka_msgs" which share similar elements to simple message structure.

As you stated that this dissector is only working with Simple Message Protocol and is there any way of enhancing this dissector to correlate with "franka_msgs"?

I'd suggest getting a little more familiar with how ROS works. franka_msgs is not special, it's just a set of files containing IDL definitions of ROS messages which happen to encode data relevant for Franka Emika robots.

Also: ROS 1 has no security.