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| # ROS 2 Security Working Group Meeting Minutes | ||
| 24 Nov 2020 | ||
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| [Meeting Recording](https://youtu.be/7ZJidRtTqXI) | [Meeting Announcement](https://discourse.ros.org/t/security-wg-meeting/17519) | ||
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| ## Agenda | ||
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| - Administrivia: future meeting minutes | ||
| - G-turtle goals | ||
| - MoveIt2 security use case | ||
| - ROS 2 without a file system, [rcl #545](https://github.com/ros2/rcl/issues/545) and [discourse post](https://discourse.ros.org/t/ros-2-without-a-file-system/16942) | ||
| - [Galactic Roadmap](https://index.ros.org/doc/ros2/Roadmap/#id2) | ||
| - sros2 quality status: any comments? | ||
| - ROS2 secure launch and access control | ||
| - [RMF](https://osrf.github.io/ros2multirobotbook) as a use case, see the [demo](https://github.com/osrf/rmf_demos) | ||
| - Revoking keys | ||
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| ## Attendees | ||
| [Iker Luengo Gil](https://github.com/IkerLuengo), | ||
| [Jacob Hassold](https://github.com/jhdcs), | ||
| [Jaime Martin Losa](https://github.com/JaimeMartin), | ||
| [Jeremie Deray](https://github.com/artivis), | ||
| [Kyle Fazzari](https://github.com/kyrofa), | ||
| [Marco Gutierrez](https://github.com/marcoag), | ||
| [Mikael Arguedas](https://github.com/mikaelarguedas), | ||
| [Ruffin White](https://github.com/ruffsl), | ||
| [Sid Faber](https://github.com/sidfaber) | ||
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| ## Administrivia | ||
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| Following a brief discussion, it was decided to move new meeting minutes to the [`ros-security/community` Github reposityr](https://github.com/ros-security/community). Existing meeting minutes in the [ROS wiki](http://wiki.ros.org/ROS2/WorkingGroups/Security) will not be ported. | ||
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| The [vulnerability remediation procedure PR](https://github.com/ros-security/community/pull/8) is still open for comments. | ||
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| ## G-Turtle goals | ||
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| Five open items could become part of our G-Turtle deliverables: | ||
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| ### Reference implementation with MoveIt | ||
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| Goal would be to demonstrate "Hey, look, here's an example of a real system that's secured." Although the config may be able to stand on its own, it would be more useful as an example. | ||
| This example will also be useful for us to find issues with the security implementation on a complex system to test: CPU / network utilization, what to sign, what to encrypt, overall impact to the system. | ||
| This also becomes a proving ground for NoDL. | ||
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| Use this implementation to configure security levels per topic, following the ones supported by DDS-Security: NONE, SIGN, ENCRYPT. Currently SROS2 is all or nothing, either all topics are encrypted or no security feature is used at all. See [Tracking ticket #130, "Provide some granularity for individual topic protection"](https://github.com/ros2/sros2/issues/130). | ||
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| Simulation may be challenging; a simulated implementation may not quite match the real world implementation. However, we should be able to spec the project in stages. Start simple and build upon the demo. | ||
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| ### Enable DDS security without a file system | ||
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| The scope of this issue is much wider than just security. Success depends upon buy-in from both the micro-ROS community and from Open Robotics. | ||
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| The WG agrees to continue to move the discussion forward to flesh out a design, but not to perform any work on the code at this time. | ||
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| ### [sros2 quality](https://github.com/ros2/sros2/issues/217) | ||
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| Even though a quality upgrade is stalled on dependent package quality levels, we should continue working on improving sros2 quality. The most important work is to improve documentation. | ||
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| Currently sros2 users aren't using online resources, and they need more / better documentation. The recommended path forward is to add a full section on security to the ROS 2 tutorials. This should build on the examples of the existing tutorials, and demonstrate how to re-do them with security enabled. | ||
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| A discussion also ensued on the current status of [answers.ros.org](https://answers.ros.org/questions/). | ||
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| ### Permissions file size | ||
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| Mikael has been working on uglifying the permissions files. Work on this continues. | ||
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| ### Integration test failures | ||
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| Mikael described the current state of [failures in test_security](https://github.com/ros2/system_tests/issues/446). The WG agreed that these tests should be fixed, although no specific action items were identified. | ||
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| ### Conclusion | ||
| The WG will focus on the following primary items for G-turtle: | ||
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| - A reference implementation of security | ||
| - Improving sros2 quality through documentation updates | ||
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| The WG will also continue working on the following items: | ||
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| - Design input for running ROS without a file system | ||
| - Reducing permission file size / complexity | ||
| - Fixing test failures | ||
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| ## Open Discussion | ||
| ROS launch status: the initial launch is working but does not include access control. The work is in progress, but stalled pending discussions on [launch_ros PR 180](https://github.com/ros2/launch_ros/pull/180). Some comments are suggesting a plugin solution, which would change future PRs. | ||
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| Marco suggested [the Robotics Middleware Framework (RMF)](https://github.com/osrf/rmf_demos) as a reference implementation for ROS security. This should be ready to run with ROS 2; they have already done some work with security as well. | ||
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| Marco also asked about revoking keys: there's a need to handle that within RMF should an individual robot in a fleet be physically compromised. Jaime provided [information on CRLs from eProsima](https://fast-dds.docs.eprosima.com/en/latest/fastdds/security/auth_plugin/auth_plugin.html#generating-the-certificate-revocation-list-crl). | ||
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| ## References | ||
| More information about items that were discussed: | ||
| - [Vulnerability remediation procedure PR](https://github.com/ros-security/community/pull/8) | ||
| - [sros2 quality](https://github.com/ros2/sros2/issues/217) | ||
| - [Failures in test_security](https://github.com/ros2/system_tests/issues/446) | ||
| - [Secure launch_ros PR 180](https://github.com/ros2/launch_ros/pull/180) | ||
| - [The Robotics Middleware Framework (RMF)](https://github.com/osrf/rmf_demos) | ||
| - [RMF: Programming multiple robots with ROS 2](https://osrf.github.io/ros2multirobotbook/) | ||
| - [FastDDS and CRLs](https://fast-dds.docs.eprosima.com/en/latest/fastdds/security/auth_plugin/auth_plugin.html#generating-the-certificate-revocation-list-crl) | ||
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| ## Open action items | ||
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| - 2020/09/22: [Test failures on test_security](https://github.com/ros2/system_tests/issues/446) | ||
| - 2020/06/09 (sid): Draft guidance for vendors on how to create a vulnerability disclosure policy. | ||
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| Closing the following items as this work is actively in progress: | ||
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| - 2020/09/22: Kyle/Mikael to add an issue for uglifying permissions files | ||
| - 2020/07/28: Mikael and Ruffin to try and shave size off the perm files and wildcard to optimize, then push upstream. Follow up with a discussion on matrix. See https://github.com/ros-swg/turtlebot3_demo/pull/34#issuecomment-665439493. | ||
| - 2020/05/12: Review [Move security related filesystem and env utilities outside rcl · Issue #545 · ros2/rcl](https://github.com/ros2/rcl/issues/545) and comment |