From 2283fe004a7b7fd74ec6e70b36faf04818f18dc9 Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Wed, 8 May 2024 12:07:18 -0700 Subject: [PATCH 1/2] add `--no-daemon` and `--spin-time` explanation in readme. Signed-off-by: Tomoya Fujita --- SROS2_Linux.md | 11 +++++++---- SROS2_MacOS.md | 11 +++++++---- SROS2_Windows.md | 11 +++++++---- 3 files changed, 21 insertions(+), 12 deletions(-) diff --git a/SROS2_Linux.md b/SROS2_Linux.md index 171c5d07..0c139fc5 100644 --- a/SROS2_Linux.md +++ b/SROS2_Linux.md @@ -120,16 +120,19 @@ To be able to use the ros2 CLI tools to interact with your secured system, you n export ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener ``` -Then use the CLI as usual: +Then use the CLI with `--no-daemon` and `--spin-time`: + +> [!NOTE] +> Avoid using `ros2 daemon` since it may not have security enclaves, and enough time duration should be given for the discovery in secured network. ```bash -ros2 node list +ros2 node list --no-daemon --spin-time 3 ``` ``` /talker ``` ```bash -ros2 topic list +ros2 topic list --no-daemon --spin-time 3 ``` ``` /chatter @@ -137,7 +140,7 @@ ros2 topic list /rosout ``` ```bash -ros2 topic echo /chatter +ros2 topic echo /chatter --spin-time 3 ``` ``` [INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener diff --git a/SROS2_MacOS.md b/SROS2_MacOS.md index 93ca3436..62d1ff59 100644 --- a/SROS2_MacOS.md +++ b/SROS2_MacOS.md @@ -130,16 +130,19 @@ To be able to use the ros2 CLI tools to interact with your secured system, you n export ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener ``` -Then use the CLI as usual: +Then use the CLI with `--no-daemon` and `--spin-time`: + +> [!NOTE] +> Avoid using `ros2 daemon` since it may not have security enclaves, and enough time duration should be given for the discovery in secured network. ```bash -ros2 node list +ros2 node list --no-daemon --spin-time 3 ``` ``` /talker ``` ```bash -ros2 topic list +ros2 topic list --no-daemon --spin-time 3 ``` ``` /chatter @@ -147,7 +150,7 @@ ros2 topic list /rosout ``` ```bash -ros2 topic echo /chatter +ros2 topic echo /chatter --spin-time 3 ``` ``` [INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener diff --git a/SROS2_Windows.md b/SROS2_Windows.md index c0e458d4..73dc5560 100644 --- a/SROS2_Windows.md +++ b/SROS2_Windows.md @@ -129,16 +129,19 @@ To be able to use the ros2 CLI tools to interact with your secured system, you n set ROS_SECURITY_ENCLAVE_OVERRIDE=/talker_listener/listener ``` -Then use the CLI as usual: +Then use the CLI with `--no-daemon` and `--spin-time`: + +> [!NOTE] +> Avoid using `ros2 daemon` since it may not have security enclaves, and enough time duration should be given for the discovery in secured network. ```bat -ros2 node list +ros2 node list --no-daemon --spin-time 3 ``` ``` /talker ``` ```bat -ros2 topic list +ros2 topic list --no-daemon --spin-time 3 ``` ``` /chatter @@ -146,7 +149,7 @@ ros2 topic list /rosout ``` ```bat -ros2 topic echo /chatter +ros2 topic echo /chatter --spin-time 3 ``` ``` [INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener From 333f630a90096ca6e4380b6290c1093d770638c7 Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Wed, 8 May 2024 12:24:47 -0700 Subject: [PATCH 2/2] increase `--spin-time` from 3 to 4 seconds based on CI. Signed-off-by: Tomoya Fujita --- SROS2_Linux.md | 6 +++--- SROS2_MacOS.md | 6 +++--- SROS2_Windows.md | 6 +++--- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/SROS2_Linux.md b/SROS2_Linux.md index 0c139fc5..7caabd56 100644 --- a/SROS2_Linux.md +++ b/SROS2_Linux.md @@ -126,13 +126,13 @@ Then use the CLI with `--no-daemon` and `--spin-time`: > Avoid using `ros2 daemon` since it may not have security enclaves, and enough time duration should be given for the discovery in secured network. ```bash -ros2 node list --no-daemon --spin-time 3 +ros2 node list --no-daemon --spin-time 4 ``` ``` /talker ``` ```bash -ros2 topic list --no-daemon --spin-time 3 +ros2 topic list --no-daemon --spin-time 4 ``` ``` /chatter @@ -140,7 +140,7 @@ ros2 topic list --no-daemon --spin-time 3 /rosout ``` ```bash -ros2 topic echo /chatter --spin-time 3 +ros2 topic echo /chatter --spin-time 4 ``` ``` [INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener diff --git a/SROS2_MacOS.md b/SROS2_MacOS.md index 62d1ff59..976d1fec 100644 --- a/SROS2_MacOS.md +++ b/SROS2_MacOS.md @@ -136,13 +136,13 @@ Then use the CLI with `--no-daemon` and `--spin-time`: > Avoid using `ros2 daemon` since it may not have security enclaves, and enough time duration should be given for the discovery in secured network. ```bash -ros2 node list --no-daemon --spin-time 3 +ros2 node list --no-daemon --spin-time 4 ``` ``` /talker ``` ```bash -ros2 topic list --no-daemon --spin-time 3 +ros2 topic list --no-daemon --spin-time 4 ``` ``` /chatter @@ -150,7 +150,7 @@ ros2 topic list --no-daemon --spin-time 3 /rosout ``` ```bash -ros2 topic echo /chatter --spin-time 3 +ros2 topic echo /chatter --spin-time 4 ``` ``` [INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener diff --git a/SROS2_Windows.md b/SROS2_Windows.md index 73dc5560..0e1db9e1 100644 --- a/SROS2_Windows.md +++ b/SROS2_Windows.md @@ -135,13 +135,13 @@ Then use the CLI with `--no-daemon` and `--spin-time`: > Avoid using `ros2 daemon` since it may not have security enclaves, and enough time duration should be given for the discovery in secured network. ```bat -ros2 node list --no-daemon --spin-time 3 +ros2 node list --no-daemon --spin-time 4 ``` ``` /talker ``` ```bat -ros2 topic list --no-daemon --spin-time 3 +ros2 topic list --no-daemon --spin-time 4 ``` ``` /chatter @@ -149,7 +149,7 @@ ros2 topic list --no-daemon --spin-time 3 /rosout ``` ```bat -ros2 topic echo /chatter --spin-time 3 +ros2 topic echo /chatter --spin-time 4 ``` ``` [INFO] [1714897092.882384995] [rcl]: Found security directory: /root/sros2_demo/demo_keystore/enclaves/talker_listener/listener