TMA-ROS-SROS2-POLICY
Ensure SROS2 governance and permissions enforce encryption and least privilege
说明
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.
检查方式
审计方法: 人工审核
此项建议无法自动检查。当您传入 --include-manual 时，扫描结果会列出该项并附带这些说明。
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.
修复方式
修复方法: 操作指南或基础设施补丁
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.
属性
- 操作系统
- 任意
- 标签
- rosros2ddssros2
- 参考
- CIS-style ROS 2 hardening guidance - SROS2 access control policy (no CIS benchmark section; verify against your hardening standard)