ROS Cipherer allows ROS publisher nodes to publish encrypted topics. Moreover, it allows ROS suscriber nodes to consume encrypted topics
ROS Cipherer includes two packages:
- simple_talker_listener: publishes/consumes std_msgs/String to the topic /chatter.
- image_ciphering: publishes/consumes sensor_msgs/CompressedImages to the topic /output/image_encrypted.
It is necessary to have Ubuntu 14.04 and ROS (Indigo version) installed.
Steps to install ROS indigo
Setup your computer to accept software from packages.ros.org
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
Then, make an update:
$ sudo apt-get update
Do a complete installation of ROS (recommended):
$ sudo apt-get install ros-indigo-desktop-full
Add ROS environment variables to your bash session every time a new shell is launched:
$ echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc $ source ~/.bashrc
Now, it is also necessary to configuring the workspace. Let's create a catkin workspace:
$ mkdir -p ~/catkin_ws/src $ cd ~/catkin_ws/src $ catkin_init_workspace
Also, add your own workspace environment to the .bashrc file:
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
Then build the workspace:
$ cd ~/catkin_ws/ $ catkin_make
Now clone the ROS-ciphered repository into your ~/catkin_ws/src:
$ git clone https://github.com/UleRobots/ROS-cipherer.git
Remember: After cloning ROS-cipherer proyect, you have to run
For more information about ROS installation, follow this ROS tutorial http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
Install some dev tools and the pycrypto library:
$ sudo apt-get install python-pip autoconf g++ python2.7-dev python-devel $ pip install pycrypto
Check pycripto installation:
~/tmp$ pip show pycrypto Name: pycrypto Version: 2.6.1 Location: /usr/lib/python2.7/dist-packages Requires:
More info: http://robotica.unileon.es