search

ros-swg / turtlebot3_demo

Repository to build and test Turtlebot3 packages
Apache License 2.0
20 stars 6 forks source link

update access control policies #2

Closed mikaelarguedas closed 5 years ago

mikaelarguedas commented 5 years ago

With this set of policies, it is possible to plan and ececute trajectories with security on

Remaining policy issues to address:

Nodes with wildcards:

Nodes without policies defined ATM:

Failing nodes in non default cases (robot hitting obstacles, recovery behaviors etc)

e.g. there's a node /_local_costmap_clear_entirely_local_costmap_Node_<SOME_ID> that gets created when the robot hits an obstacle and tries to clear the costmap to replan

Signed-off-by: Mikael Arguedas mikael.arguedas@gmail.com

mikaelarguedas commented 5 years ago

All issues listed in issue description have been addressed.

This PR allows to run the demo with a specific set of permissions for every node.

We could improve the redability of the policies by collapsing action topics/services etc, but it can be done in a follow-up

ruffsl commented 5 years ago

We could improve the redability of the policies by collapsing action topics/services etc, but it can be done in a follow-up

Please check https://github.com/mikaelarguedas/tb3_demo/pull/3