[ros-users] ROS & DDS

William Woodall william at osrfoundation.org
Sun Feb 23 05:45:00 UTC 2014


We will definitely look at it as an option, but the GPL license isn't ideal
since the rest of our work is generally BSD or Apache 2.0.


On Sat, Feb 22, 2014 at 9:17 PM, Ben Kehoe <benk at berkeley.edu> wrote:

> Is ZeroC's ICE under consideration? It seems like it has a lot of the
> features people have been discussing, including encryption and compression,
> ability to reduce inter-host communication for topics, distributed
> registries, and even ROS-like parameters (though they live on each
> component rather than on a central parameter server). It has a pretty
> similar though more general message format.
>
> --Ben
>
>
> On Sat, Feb 22, 2014 at 12:16 AM, Geoffrey Biggs <
> geoffrey.biggs at aist.go.jp> wrote:
>
>> On 21/02/14 08:45, Brian Gerkey wrote:
>> > On Thu, Feb 20, 2014 at 3:26 PM, Aravind Sundaresan
>> > <asundaresan at gmail.com> wrote:
>> >> We are using ROS in a DARPA program where we need the communication
>> between
>> >> the master and nodes as well as the messaging to be secure. Is there
>> anybody
>> >> else who finds this important? Does DDS provide secure communications?
>> >
>> > You're not alone in wanting secure communications for robotics.  We
>> > would be remiss in a major rewrite to completely ignore security
>> > (which is not to say that we must implement security mechanisms, but
>> > we'd better at least end up with a solid story about our approach to
>> > security, with clear guidance to users).
>> >
>> > As I understand it, there's a proposed extension to the DDS spec,
>> > currently under review, to add security.  Here's a relevant
>> > presentation:
>> >
>> > http://www.slideshare.net/GerardoPardo/dds-security-standard
>> >
>> > But given that DDS is apparently used in so many mission-critical
>> > applications, surely there's some encryption happening, perhaps in
>> > non-standard vendor-specific ways that vary by implementation?  Or
>> > perhaps they're using DDS like we use ROS, where you're expected
>> > secure your network.
>>
>> The answer to this is more along the lines of the original target
>> audience of DDS operating private/closed networks. When all your
>> communication happens within a single Navy frigate on dedicated
>> communication wires, security is less problematic. DDS growing beyond
>> its original audience has caused many vendors to start thinking about
>> how to do security. A VPN is one option, but obviously many users want
>> something a bit lighter weight.
>>
>> Geoff
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>>
>
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-- 
William Woodall
ROS Development Team
william at osrfoundation.org
http://williamjwoodall.com/
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