TMA-ROS-SROS2-POLICY
Ensure SROS2 governance and permissions enforce encryption and least privilege
Description
Enabling SROS2 is not sufficient on its own: the signed governance document decides whether unauthenticated participants are allowed and whether traffic is encrypted, and per-enclave permissions decide which topics each node may publish or subscribe. These documents are site specific, so this is a review item.
Méthode de vérification
Méthode d'audit: Revue manuelle
Cette recommandation ne peut pas être vérifiée automatiquement. Une analyse la liste avec ces instructions lorsque vous passez --include-manual.
In the keystore ($ROS_SECURITY_KEYSTORE/enclaves/governance.xml) confirm allow_unauthenticated_participants=false, enable_join_access_control=true and rtps/discovery/liveliness protection_kind ENCRYPT. For each enclave permissions.xml, confirm publish/subscribe grants are limited to the topics that node needs (no "*" wildcards). Check that private/ key files are readable only by the service account (mode 600) and the CA private key is kept off the robot.
Méthode de correction
Méthode de correction: Recommandation ou correctif d'infrastructure
Write a policy file and regenerate permissions (ros2 security create_permission <keystore> <enclave> policy.xml), edit governance.xml for ENCRYPT and re-sign it with the keystore CA, copy only the needed enclaves to the robot and restart the nodes.
Propriétés
- Systèmes d'exploitation
- Tous
- Étiquettes
- rosros2ddssros2
- Référence
- CIS-style ROS 2 hardening guidance - SROS2 access control policy (no CIS benchmark section; verify against your hardening standard)