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Fast-DDS uses SHM transport by default, so network traffic cannot be … #3683

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Jun 5, 2023
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Fast-DDS uses SHM transport by default, so network traffic cannot be … #3683

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Fast-DDS uses SHM transport by default, so network traffic cannot be …
fujitatomoya May 24, 2023
35d5160
unset ROS_SECURITY_ENABLE instead of setting `false`.
fujitatomoya May 25, 2023
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update description from review.
fujitatomoya Jun 1, 2023
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update note description.
fujitatomoya Jun 5, 2023
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10 changes: 9 additions & 1 deletion source/Tutorials/Advanced/Security/Examine-Traffic.rst
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Expand Up @@ -25,6 +25,11 @@ ROS 2 communications security is all about protecting communications between nod
Prior tutorials enabled security, but how can you **really** tell if traffic is being encrypted?
In this tutorial we'll take a look at capturing live network traffic to show the difference between encrypted and unencrypted traffic.

.. note::

Please go through this tutorial to use different host system for talker and listener with ``rmw_fastrtps_cpp``.
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``rmw_fastrtps_cpp`` uses `Shared Memory Transport <https://fast-dds.docs.eprosima.com/en/latest/fastdds/transport/shared_memory/shared_memory.html>`_ by default to improve the performance in the transport layer when the endpoints are in the same host system.
Security enclaves still can be applied, effective and data will be encrypted, but we cannot capture live network traffic since the data will not be on the network interface.
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Run the demo
------------
Expand All @@ -50,6 +55,9 @@ The security environment variables are not set so security is not enabled for th

.. code-block:: bash

# Disable ROS Security for both terminals
unset ROS_SECURITY_ENABLE

# In terminal 1:
ros2 run demo_nodes_cpp talker --ros-args --enclave /talker_listener/talker

Expand Down Expand Up @@ -198,7 +206,7 @@ A typical data packet looks like the following::
0x0150: 42ae f04d 0559 84c5 7116 1c51 91ba 3799 B..M.Y..q..Q..7.
0x0160: 0000 0000 ....

The data in this RTPS packet is all encrpyted.
The data in this RTPS packet is all encrypted.

In addition to this data packet, you should see additional packets with node and enclave names; these support other ROS features such as parameters and services.
Encryption options for these packets can also be controlled by security policy.