We had a great second meeting for the folks in other time zones. In attendance were people from Amazon, RTI, Alias Robotics, UCSD, and Acutronic Robotics. Unfortunately I completely forgot to record the meeting so the only artifact is the summary below.

I'm tentatively going to schedule the next meeting for October 30th @ 08:00 AM PDT. Please let me know in the next couple of days if this is not a convenient time, otherwise I will post here with the meeting details.

# Summary
- Alias
	- Current in assessment phase for ROS2
	- General check for vulnerabilities
	- Interest in collaborating on threat model

- RTI
	- Not working specifically on security for ROS2
	- Should parts of DDS need augmentation, happy to collaborate on them

- Threat model
	- Collaborate via a wiki on SROS2 repo
	- Want to start with a less complex, publicly available system to model as an example
	- Could use the Turtlebot3
	- Victor @ Acutronic offered to use https://acutronicrobotics.com/modularity/mara/ as a possible alternative

- Should security be exclusive with performance?
	- Need to balance security and performance
	- May want to have subset of nodes secure
	- May only sign or could be sensitive data
	- Publicly known data not very sensitive
	- High performance, high through put topics may not tolerate problem

- Does the sensitivity of the data merit the performance hit (tf or odometry)
	- Someone could reconstruct sensitive information from non-sensitive data
	- Reconstruct context based on partial information
	- Default should be total security
	- Model how does partial disclosure affect the system
	- There is a paper in the SROS2 tutorial about security, latency, throughput

- Realtime systems
	- Security on realtime systems could impact the realtime aspects
	- Various security related functions that will need to happen
	- Handshake could cause some non-deterministic elements which would be detrimental to realtime
	- Are there other non-deterministic security related functions that could affect realtime systems?

- How do we deal with security failures?
	- Extend lifecycle state related to safety of the component
	- Allow system to recover by fixing the issue
	- Could have mediator that fixes the issue
	- This could have problems if nodes begin requesting permissions not needed before
	- Nodes/messages could be marked as critical and cause an error if those messages are not able to be processed due to permission errors
	- Would require the CA to live close to the system
	- Have specific error modes when permission 
	
- SROS2 tutorial has a walkthrough on securing Turtlebot3 
	- Compilation has problems since there's not a 32-bit build of ROS2
	- Use QEMU to cross-compile 
	- Problems getting the XRCE agent with security enabled, could not communicate with the XRCE node
	- Ended up with insecure XRCE nodes and using the RTI router to connect it to the rest of the secure graph
	- Need agent to be able to relay the XRCE traffic under it's own GUID potentially?

Thanks for everyone for attending!





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