Aravind Sundaresan and Leonard Gerard (SRI International)
roscon.ros.org/2017/
Secure ROS is an update to ROS allowing secure communications while keeping ROS public API intact and allowing user code to be reused without modification. Policies are provided at execution time with a YAML file specifying authorized subscribers and publishers to topics, getters and setters to parameters, as well as providers and requesters of services. Policies are specified at the IP address level and enforced by Secure ROS. Combined with IPSec for cryptography, Secure ROS provides secure, authenticated and encrypted ROS communications. Modifications to the ROS code base is restricted to the ROS Master and client libraries (rospy and roscpp).
