aztarna, a footprinting tool for robots.
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This repository contains Alias Robotics' aztarna, a footprinting tool for robots.

Alias Robotics supports original robot manufacturers assessing their security and improving their quality of software. By no means we encourage or promote the unauthorized tampering with running robotic systems. This can cause serious human harm and material damages.

PyPI version Documentation Status Article


  • A list of the ROS nodes present in the system (Publishers and Subscribers)
  • For each node, the published and subscribed topis including the topic type
  • For each node, the ROS services each of the nodes offer
  • A list of all ROS parameters present in the Parameter Server
  • A list of the active communications running in the system. A single communication includes the involved publiser/subscriber nodes and the topics


  • Determining if the system is a SROS master.
  • Detecting if demo configuration is in use.
  • A list of the nodes found in the system. (Extended mode)
  • A list of allow/deny policies for each node.
    • Publishable topics.
    • Subscriptable topics.
    • Executable services.
    • Readable parameters.

For Industrial routers

  • Detecting eWON, Moxa, Sierra Wireless and Westermo industrial routers.
  • Default credential checking for found routers.


For production

Direcly from PyPi

pip3 install aztarna

or from the repository:

pip3 install .

For development

pip3 install -e .


python3 develop

Python 3.7 and the setuptools package is required for installation.

Install with docker

docker build -t aztarna_docker .

Code usage:

usage: aztarna [-h] -t TYPE [-a ADDRESS] [-p PORTS] [-i INPUT_FILE]
               [-o OUT_FILE] [-e] [-r RATE] [--shodan] [--api-key API_KEY]


optional arguments:
  -h, --help            show this help message and exit
  -t TYPE, --type TYPE  <ROS/ros/SROS/sros/IROUTERS/irouters> Scan ROS, SROS
                        hosts or Industrial routers
  -a ADDRESS, --address ADDRESS
                        Single address or network range to scan.
  -p PORTS, --ports PORTS
                        Ports to scan (format: 13311 or 11111-11155 or
  -i INPUT_FILE, --input_file INPUT_FILE
                        Input file of addresses to use for scanning
  -o OUT_FILE, --out_file OUT_FILE
                        Output file for the results
  -e, --extended        Extended scan of the hosts
  -r RATE, --rate RATE  Maximum simultaneous network connections
  --shodan              Use shodan for the scan types that support it.
  --api-key API_KEY     Shodan API Key

Run the code (example input file):

aztarna -t ROS -p 11311 -i ros_scan_s20.csv

Run the code with Docker (example input file):

docker run -v <host_path>:/root -it aztarna_docker -t ROS -p 11311 -i <input_file>

Run the code (example single ip address):

aztarna -t ROS -p 11311 -a

Run the code (example subnet):

aztarna -t ROS -p 11311 -a

Run the code (example single ip address, port range):

aztarna -t ROS -p 11311-11500 -a

Run the code (example single ip address, port list):

aztarna -t ROS -p 11311,11312,11313 -a

Run the code (example piping directly from zmap):

zmap -p 11311 -q | aztarna -t SROS -p 11311

Run the code (example search for industrial routers in shodan)

aztarna -t IROUTERS --shodan --api-key <yourshodanapikey>

Run the code (example search for industrial routers in shodan, piping to file)

aztarna -t IROUTERS --shodan --api-key <yourshodanapikey> -o routers.csv

Cite our work

If you're using our work for your research, please cite us as:

  author = {{Vilches}, V{\'\i}ctor Mayoral and {Mendia}, Gorka Olalde and
  {Baskaran}, Xabier Perez and {Cordero}, Alejandro Hern{\'a}ndez
  and {Juan}, Lander Usategui San and {Gil-Uriarte}, Endika and
  {de Urabain}, Odei Olalde Saez and {Kirschgens}, Laura Alzola},
  title = "{Aztarna, a footprinting tool for robots}",
  journal = {arXiv e-prints},
  keywords = {Computer Science - Cryptography and Security, Computer Science - Robotics},
  year = 2018,
  month = Dec,
  eid = {arXiv:1812.09490},
  pages = {arXiv:1812.09490},
  archivePrefix = {arXiv},
  eprint = {1812.09490},
  primaryClass = {cs.CR},
  adsurl = {\#abs/2018arXiv181209490V},
  adsnote = {Provided by the SAO/NASA Astrophysics Data System}