Fix linux tutorial: cloning example policies and set of default policies for a node #295

mikaelarguedas · 2024-05-04T22:22:49Z

(Tested only on Linux)

clone the sros2 repo in a temporary directory to retrieve test policies from it
- the subversion hack doesnt work anymore..
add get_type_description service to a standard node policy
- otherwise the node won't start as this service and associated topics are created by default
minor fixups to README and tutorials

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

mikaelarguedas · 2024-05-04T22:28:26Z

Potentially the same svn issue happens on the Windows tutorial and switching to git would solve the issue

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

clalancette

Some small additional fixes, but overall looks good to me.

SROS2_Linux.md

SROS2_MacOS.md

SROS2_Windows.md

README.md

Co-authored-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

clalancette

Looks good to me, thanks for the improvement!

clalancette · 2024-05-06T13:16:49Z

Since this change is just to the README.md, going ahead and merging without any additional CI.

clalancette · 2024-05-06T13:17:21Z

@Mergifyio backport jazzy

mergify · 2024-05-06T13:17:52Z

backport jazzy

✅ Backports have been created

#296 Fix linux tutorial: cloning example policies and set of default policies for a node (backport #295) has been created for branch jazzy

…ies for a node (#295) * clone policies to temporary dir as subversion hack doesnt work anymore * add get_type_description service to policies * update MacOS similarly * update all permissions with new topics * dont rule out cycloneDDS * example of enclave override Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> (cherry picked from commit ca6bb12)

…ies for a node (#295) (#296) * clone policies to temporary dir as subversion hack doesnt work anymore * add get_type_description service to policies * update MacOS similarly * update all permissions with new topics * dont rule out cycloneDDS * example of enclave override Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> (cherry picked from commit ca6bb12) Co-authored-by: Mikael Arguedas <mikael.arguedas@gmail.com>

fujitatomoya

@mikaelarguedas @clalancette i think some of these documents are not precise or not working as expected as far as i checked. i will try with rolling to make sure if this is happening with mainline 1st, and will create another issue to track them. (probably each rmw implementation repository with the issue.)

fujitatomoya · 2024-05-06T21:24:30Z

SROS2_Linux.md

 ```bash
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp  # or


with rmw_fastrtps_cpp, this procedure does not work. (i tested with jazzy test environment.)

root@51cdd59e1f3e:~# export RMW_IMPLEMENTATION=rmw_fastrtps_cpp root@51cdd59e1f3e:~# export ROS_SECURITY_KEYSTORE=~/sros2_demo/demo_keystore root@51cdd59e1f3e:~# export ROS_SECURITY_ENABLE=true root@51cdd59e1f3e:~# export ROS_SECURITY_STRATEGY=Enforce root@51cdd59e1f3e:~# ros2 run demo_nodes_cpp talker --ros-args --enclave /talker_listener/talker [INFO] [1715030073.646233306] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/talker [INFO] [1715030074.656773123] [talker]: Publishing: 'Hello World: 1' ...<snip> root@51cdd59e1f3e:~# export RMW_IMPLEMENTATION=rmw_fastrtps_cpp root@51cdd59e1f3e:~# export ROS_SECURITY_KEYSTORE=~/sros2_demo/demo_keystore root@51cdd59e1f3e:~# export ROS_SECURITY_ENABLE=true root@51cdd59e1f3e:~# export ROS_SECURITY_STRATEGY=Enforce root@51cdd59e1f3e:~# ros2 run demo_nodes_py listener --ros-args --enclave /talker_listener/listener [INFO] [1715030123.004486867] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener [INFO] [1715030125.668635649] [listener]: I heard: [Hello World: 52] [INFO] [1715030126.659144765] [listener]: I heard: [Hello World: 53] root@51cdd59e1f3e:~# export ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener root@51cdd59e1f3e:~# ros2 daemon stop root@51cdd59e1f3e:~# ros2 daemon status root@51cdd59e1f3e:~# ros2 node list --no-daemon [INFO] [1715030178.386225737] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener root@51cdd59e1f3e:~# ros2 topic list --no-daemon [INFO] [1715030183.341342733] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener /parameter_events /rosout root@51cdd59e1f3e:~# ros2 topic echo /chatter [INFO] [1715030189.509482358] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener WARNING: topic [/chatter] does not appear to be published yet Could not determine the type for the passed topic

oh weird I dont have the same behavior. But it may be part of the daemon issue you point out.

On my end the topic does appear in the topic list and the echo works

(but ros2 node list returns an empty list which is weird)

$ ros2 daemon stop The daemon has been stopped $ ros2 node list [INFO] [1715031598.709184801] [rcl]: Found security directory: /home/mikael/sros2_demo/demo_keystore/enclaves/talker_listener/listener $ ros2 topic list /chatter /parameter_events /rosout $ ros2 topic echo /chatter [INFO] [1715031753.543324314] [rcl]: Found security directory: /home/mikael/sros2_demo/demo_keystore/enclaves/talker_listener/listener data: 'Hello World: 193' --- data: 'Hello World: 194' --- data: 'Hello World: 195' ---

fujitatomoya · 2024-05-06T21:25:06Z

SROS2_Linux.md

 ```bash
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp  # or
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp  # or


with rmw_cyclonedds_cpp, no problem observed.

root@51cdd59e1f3e:~# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp root@51cdd59e1f3e:~# export ROS_SECURITY_KEYSTORE=~/sros2_demo/demo_keystore root@51cdd59e1f3e:~# export ROS_SECURITY_ENABLE=true root@51cdd59e1f3e:~# export ROS_SECURITY_STRATEGY=Enforce root@51cdd59e1f3e:~# ros2 run demo_nodes_cpp talker --ros-args --enclave /talker_listener/talker [INFO] [1715030073.646233306] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/talker [INFO] [1715030074.656773123] [talker]: Publishing: 'Hello World: 1' ...<snip> root@51cdd59e1f3e:~# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp root@51cdd59e1f3e:~# export ROS_SECURITY_KEYSTORE=~/sros2_demo/demo_keystore root@51cdd59e1f3e:~# export ROS_SECURITY_ENABLE=true root@51cdd59e1f3e:~# export ROS_SECURITY_STRATEGY=Enforce root@51cdd59e1f3e:~# ros2 run demo_nodes_py listener --ros-args --enclave /talker_listener/listener [INFO] [1715030308.304379343] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener [INFO] [1715030308.870311399] [listener]: I heard: [Hello World: 29] root@51cdd59e1f3e:~# export ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener root@51cdd59e1f3e:~# ros2 daemon stop root@51cdd59e1f3e:~# ros2 daemon status root@51cdd59e1f3e:~# ros2 node list --no-daemon [INFO] [1715030359.385181616] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener /talker root@51cdd59e1f3e:~# ros2 topic list --no-daemon [INFO] [1715030366.263345203] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener /chatter /parameter_events /rosout root@51cdd59e1f3e:~# ros2 topic echo /chatter [INFO] [1715030372.966397551] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener data: 'Hello World: 94' --- data: 'Hello World: 95' ---

Ah good as that's the only one I tested end-to-end from osrf/ros2_test_cases#1307

fujitatomoya · 2024-05-06T21:25:32Z

SROS2_Linux.md

 ```bash
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp  # or
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp  # or
 export RMW_IMPLEMENTATION=rmw_connextdds


security does not even work...

root@51cdd59e1f3e:~# export RMW_IMPLEMENTATION=rmw_connextdds root@51cdd59e1f3e:~# export ROS_SECURITY_KEYSTORE=~/sros2_demo/demo_keystore root@51cdd59e1f3e:~# export ROS_SECURITY_ENABLE=true root@51cdd59e1f3e:~# export ROS_SECURITY_STRATEGY=Enforce root@51cdd59e1f3e:~# ros2 run demo_nodes_cpp talker --ros-args --enclave /talker_listener/talker [INFO] [1715030503.075598598] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/talker RTI Connext DDS Non-commercial license is for academic, research, evaluation and personal use only. USE FOR COMMERCIAL PURPOSES IS PROHIBITED. See RTI_LICENSE.TXT for terms. Download free tools at rti.com/ncl. License issued to Non-Commercial User license@rti.com For non-production use only. Expires on 00-jan-00 See www.rti.com for more information. [CREATE Participant] RTIOsapiLibrary_openEx:!open library=libnddssecurityd.so: libnddssecurityd.so: cannot open shared object file: No such file or directory [CREATE Participant] DDS_DomainParticipantTrustPlugins_initialize:!failed to load library [CREATE Participant] DDS_DomainParticipant_createI:!create builtin trust plugins support [CREATE Participant] DDS_DomainParticipantFactory_create_participant_disabledI:!create participant [ERROR] [1715030503.205463802] [rmw_connextdds]: failed to create DDS participant [ERROR] [1715030503.205703150] [rmw_connextdds]: failed to initialize DomainParticipant [ERROR] [1715030503.205735098] [rmw_connextdds]: failed to initialize node in context terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' what(): failed to initialize rcl node: failed to create DDS participant, at ./src/common/rmw_context.cpp:557, at ./src/rcl/node.c:252 [ros2run]: Aborted

hmmm wondering for how long this doesnt work 🤔 I don't have a license ATM but will give it a shot sometimes this week

libnddssecurityd.so: cannot open shared object file: No such file or directory

@fujitatomoya are you sure you installed the Connext Security plugins on your system ?
It looks like the relevant libraries are missing

Could you successfully complete this section of the tutorial? https://github.com/ros2/sros2/blob/rolling/SROS2_Linux.md#additional-configuration-for-rti-connext

ah that is i did not do, sorry. i need to take this back.

fujitatomoya · 2024-05-06T21:26:51Z

SROS2_Linux.md

+Then use the CLI as usual:
+
+```bash
+ros2 node list


It would be accessing the ros2 daemon, and return empty list? i think we should recommend here to use --no-daemon option to get the node graph via underlying rmw implementation directly. (and else where.)

mikaelarguedas added 2 commits May 5, 2024 00:15

clone policies to temporary dir as subversion hack doesnt work anymore

1e09593

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

add get_type_description service to policies

1c1c418

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

mikaelarguedas mentioned this pull request May 4, 2024

Check ROS 2 security CLI on Linux osrf/ros2_test_cases#1307

Closed

mikaelarguedas added 3 commits May 5, 2024 00:28

update MacOS similarly

0792e95

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

update all permissions with new topics

33128cb

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

dont rule out cycloneDDS

ffbc0b5

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

mikaelarguedas force-pushed the fix_examples branch from 4c6acaf to ffbc0b5 Compare May 5, 2024 08:37

This was referenced May 5, 2024

Support for cyclonedds on ROS2 Humble #291

Closed

Bind security enclaves to ros2cli commands for debug purpose #293

Closed

This was linked to issues May 5, 2024

Bind security enclaves to ros2cli commands for debug purpose #293

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Support for cyclonedds on ROS2 Humble #291

Closed

example of enclave override

f56bfaa

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

mikaelarguedas force-pushed the fix_examples branch from 802c48a to f56bfaa Compare May 5, 2024 09:03

clalancette requested changes May 6, 2024

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mikaelarguedas and others added 2 commits May 6, 2024 14:46

apply unrelated suggestion

95a1e0c

Co-authored-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

missed one

8bd8be6

Co-authored-by: Chris Lalancette <clalancette@gmail.com> Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

clalancette approved these changes May 6, 2024

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clalancette merged commit ca6bb12 into rolling May 6, 2024
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clalancette deleted the fix_examples branch May 6, 2024 13:17

mergify bot mentioned this pull request May 6, 2024

Fix linux tutorial: cloning example policies and set of default policies for a node (backport #295) #296

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mikaelarguedas mentioned this pull request May 6, 2024

Running generate_policy fails with "couldn't find all security files!" #281

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This was referenced May 6, 2024

Check ROS 2 security CLI on Linux osrf/ros2_test_cases#1306

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Check ROS 2 security CLI on Windows osrf/ros2_test_cases#1418

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Check ROS 2 security CLI on Windows osrf/ros2_test_cases#1419

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fujitatomoya reviewed May 6, 2024

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fujitatomoya mentioned this pull request May 8, 2024

Sometimes ROS_SECURITY_ENCLAVE_OVERRIDE does not effectively work as introduced #306

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Fix linux tutorial: cloning example policies and set of default policies for a node #295

Fix linux tutorial: cloning example policies and set of default policies for a node #295

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Fix linux tutorial: cloning example policies and set of default policies for a node #295

Fix linux tutorial: cloning example policies and set of default policies for a node #295

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✅ Backports have been created

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mikaelarguedas commented May 4, 2024 •

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