search

ros-swg / turtlebot3_demo

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

Reproducing the secure demo, SECURITY ERROR #29

Closed vmayoral closed 4 years ago

vmayoral commented 4 years ago

@ruffsl and @mikaelarguedas,

I gave it a try to the secure demo and ended up with the following setup:

Launched demo as follows:

rocker rosswg/turtlebot3_demo:latest "byobu -f configs/secure.conf attach"

(image pre-built from https://github.com/vmayoral/turtlebot3_demo fork) and got something like:

imagen

None of the tabs allow me to introspect ROS 2 with the ros2cli tools and I get a similar output:

root@29e19fd1a187:/opt# ros2 node list
Unknown error creating node: SECURITY ERROR: unable to find a folder matching the node name in /opt/tb3_overlay_ws/../keystore/.Lookup strategy: MATCH_PREFIX, at /tmp/binarydeb/ros-dashing-rcl-0.7.7/src/rcl/security_directory.c:252
vmayoral commented 4 years ago

I reproduced the same in a Linux host and obtained the same result.

vmayoral commented 4 years ago

As opposed to this:

rocker rosswg/turtlebot3_demo:roscon19 "byobu -f configs/secure.conf attach"

which seems to work just fine. Seems like my contributions at https://github.com/ros-swg/turtlebot3_demo/pull/19 are breaking things somehow.

mikaelarguedas commented 4 years ago

Can you make sure you're on top of master? I changed the way we generated the ros2cli permissions recently, maybe it's related ..

I found a few occurences where I forgot to update the generate_artifacts invocations :S can you give https://github.com/ros-swg/turtlebot3_demo/pull/30 a try or check if running the following command fixes it:

   ros2 security generate_artifacts -k keystore \
      -p policies/tb3_gazebo_policy.xml \
      -n /_ros2cli
vmayoral commented 4 years ago

Thanks for the quick response @mikaelarguedas,

 ros2 security generate_artifacts -k keystore \
      -p policies/tb3_gazebo_policy.xml \
      -n /_ros2cli

Fixed it. I can now use ros2cli from new tabs.

I tested it from my fork, let me re-try on top of master.

vmayoral commented 4 years ago

Nah, same issue in master @mikaelarguedas. Do you want me to include that command above or would you do it yourself?

mikaelarguedas commented 4 years ago

I'll just merge https://github.com/ros-swg/turtlebot3_demo/pull/30 if this fixes the issue for you

mikaelarguedas commented 4 years ago

This should be addressed by #30

vmayoral commented 4 years ago

Thanks @mikaelarguedas, closing here.