Add hardware-accelerated encryption to rosbags #1
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Ported to 1.12.12
Bag encryption routine was truncating the recorded block by the size of the IV.
Since decryption can change EVP's context, these methods can't be const anymore.
r2dkennobi
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Feb 21, 2018
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- With ninja, when `_rostest_ARGS` is empty, the space right before it gets escaped, and the command that ultimately gets executed has a trailing slash. - rospy.log testing fails because our ROSCONSOLE_FORMAT does not print severity - bag.py had a bug in get_info_str() that has been fixed upstream - bz2 performs a few bytes better than expected, failing the rosbag compression test - roswtf tests had an outdated dependency list (TBH I don't understand what this list is)
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Start with ros#1206, in which encryption was added to rosbags upstream. An asymmetric GPG public key encrypts a symmetric AES cipher, which encrypts the data itself. To decrypt, the corresponding private key is looked up and used to decrypt the AES cipher to decrypt the data.
The
Bagclass is inros_comm, the lowest-level ROS package. ros#1206 added a dependency onpluginliband changed theBagABI, so it could not be added to ROS Kinetic and was instead targeted for ROS Lunar and later. We need it for Kinetic though, so @Burgos backported it to Kinetic. We will have to be careful about the ABI change. Anyros-kinetic-*package that creates aBagobject in C++ will be break. Conveniently, I don't think there are any; the only nodes/tools I know of that work withBagobjects are in this repo.Benchmarking on my desktop, turning on encryption raised
recordCPU usage from 40% to 50%, which would be unacceptable given out lack of CPU headroom. @Burgos upgraded theaes_encryptorto use AES-NI hardware-accelerated AES encryption instead of the default software implementation. With AES-NI, turning on encryption only raisesrecordCPU usage from 40% to 41%.I created this
kinetic-releasebranch off of tag 1.12.12, which is currently the most recently released version ofros-kinetic-ros-comm.