research-article

On the (In)Security of Secure ROS2

Authors:

Yang LiuAuthors Info & Claims

CCS '22: Proceedings of the 2022 ACM SIGSAC Conference on Computer and Communications Security

Pages 739 - 753

https://doi.org/10.1145/3548606.3560681

Published: 07 November 2022 Publication History

Abstract

Robot Operating System (ROS) has been the mainstream platform for research and development of robotic applications. This platform is well-known for lacking security features and efficiency for distributed robotic computations. To address these issues, ROS2 is recently developed by utilizing the Data Distribution Service (DDS) to provide security support. Integrated with DDS, ROS2 is expected to establish the basis for trustworthy robotic ecosystems.

In this paper, we systematically study the security of the current ROS2 implementation from three perspectives. By abstracting the key functions from the ROS2 native implementation, we first formally describe the ROS2 system communication workflow and model it using a concurrent modeling language. Second, we verify the model with some key security properties through a model checker, and successfully identify four security vulnerabilities in ROS2's native security module: Secure ROS2 (SROS2). To validate these flaws, we set up simulation and physical multi-robot testbeds running different real-world workloads developed by Open Robotics and Amazon AWS Robotics. We demonstrate that an adversary can exploit these vulnerabilities to totally invalidate the security protection offered by SROS2, and obtain unauthorized permissions or steal critical information. Third, to enhance the security of ROS2, we propose a general defense solution based on the private broadcast encryption scheme. We run different workloads and benchmarks to show the efficiency and security of our defense. Our findings have been acknowledge by ROS2 official, and the suggested mitigation has been implemented in the latest SROS2 version.

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Cited By

Yang SGuo JRui X(2024)Formal Analysis and Detection for ROS2 Communication Security VulnerabilityElectronics10.3390/electronics1309176213:9(1762)Online publication date: 2-May-2024
https://doi.org/10.3390/electronics13091762
Ryu DKim GLee DKim SBae SRhee JKim TFilkov VRay BZhou M(2024)Differential Fuzzing for Data Distribution Service Programs with Dynamic ConfigurationProceedings of the 39th IEEE/ACM International Conference on Automated Software Engineering10.1145/3691620.3695073(807-818)Online publication date: 27-Oct-2024
https://dl.acm.org/doi/10.1145/3691620.3695073
Wagner PBirnstill PBeyerer J(2024)DDS Security+: Enhancing the Data Distribution Service With TPM-based Remote AttestationProceedings of the 19th International Conference on Availability, Reliability and Security10.1145/3664476.3670442(1-11)Online publication date: 30-Jul-2024
https://dl.acm.org/doi/10.1145/3664476.3670442
Show More Cited By

Index Terms

On the (In)Security of Secure ROS2
1. Computer systems organization
  1. Dependable and fault-tolerant systems and networks
    1. Redundancy
  2. Embedded and cyber-physical systems
    1. Embedded systems
    2. Robotics
2. Networks
  1. Network properties
    1. Network reliability

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cover image ACM Conferences

CCS '22: Proceedings of the 2022 ACM SIGSAC Conference on Computer and Communications Security

November 2022

3598 pages

ISBN:9781450394505

DOI:10.1145/3548606

General Chairs:
Heng Yin
University of California, Riverside
,
Angelos Stavrou
Virginia Tech
,
Program Chairs:
Cas Cremers
CISPA Helmholtz Center for Information Security
,
Elaine Shi
Carnegie Mellon University

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Published: 07 November 2022

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Cited By

Yang SGuo JRui X(2024)Formal Analysis and Detection for ROS2 Communication Security VulnerabilityElectronics10.3390/electronics1309176213:9(1762)Online publication date: 2-May-2024
https://doi.org/10.3390/electronics13091762
Ryu DKim GLee DKim SBae SRhee JKim TFilkov VRay BZhou M(2024)Differential Fuzzing for Data Distribution Service Programs with Dynamic ConfigurationProceedings of the 39th IEEE/ACM International Conference on Automated Software Engineering10.1145/3691620.3695073(807-818)Online publication date: 27-Oct-2024
https://dl.acm.org/doi/10.1145/3691620.3695073
Wagner PBirnstill PBeyerer J(2024)DDS Security+: Enhancing the Data Distribution Service With TPM-based Remote AttestationProceedings of the 19th International Conference on Availability, Reliability and Security10.1145/3664476.3670442(1-11)Online publication date: 30-Jul-2024
https://dl.acm.org/doi/10.1145/3664476.3670442
Zhang CXuan HWu TLiu XYang GZhu L(2024)Blockchain-Based Dynamic Time-Encapsulated Data Auditing for Outsourcing StorageIEEE Transactions on Information Forensics and Security10.1109/TIFS.2023.333848519(1979-1993)Online publication date: 1-Jan-2024
https://dl.acm.org/doi/10.1109/TIFS.2023.3338485
Souli NStavrinides SKardaras PPicos RKaratzia MKolios PEllinas G(2024)Performance Evaluation of a Prototype UAV-Based Secure Communication System Employing ROS and Chaotic Communications2024 International Conference on Unmanned Aircraft Systems (ICUAS)10.1109/ICUAS60882.2024.10556964(1034-1041)Online publication date: 4-Jun-2024
https://doi.org/10.1109/ICUAS60882.2024.10556964
Zoulkarni ADamera SPraveen Kumar MBaras J(2024)Defending Against APT Attacks in Robots: A Multi-phase Game-Theoretical ApproachDecision and Game Theory for Security10.1007/978-3-031-74835-6_14(287-305)Online publication date: 16-Oct-2024
https://dl.acm.org/doi/10.1007/978-3-031-74835-6_14
Yang SLi HGuo J(2024)The Security Analysis of ROS2 CommunicationSecurity and Privacy in Communication Networks10.1007/978-3-031-64954-7_7(122-139)Online publication date: 15-Oct-2024
https://doi.org/10.1007/978-3-031-64954-7_7
Abela RColombo CCurmi AFenech MVella MFerrando A(2023)Runtime Verification for Trustworthy ComputingElectronic Proceedings in Theoretical Computer Science10.4204/EPTCS.391.7391(49-62)Online publication date: 30-Sep-2023
https://doi.org/10.4204/EPTCS.391.7
Liang HLi YZhang CLiu XZhu L(2023)EGIA: An External Gradient Inversion Attack in Federated LearningIEEE Transactions on Information Forensics and Security10.1109/TIFS.2023.330216118(4984-4995)Online publication date: 1-Jan-2023
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