Attack method for robot operating system ROS message
A technology of operating systems and robots, applied in transmission systems, electrical components, etc., can solve the problems of malicious control command injection, data loss, economic loss, etc., and achieve the effect of tampering attacks
Active Publication Date: 2021-04-30
ZHEJIANG UNIV OF TECH
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Problems solved by technology
Highly networked is the development trend of robot systems, which communicate with industrial control systems, cloud services or other remote systems. However, there are major security issues in the robot operating system. The master node ROS MASTER will respond to anyone who can connect to it under the same network. For the request sent by the device, any device can publish or subscribe to the topic, and the message data is only transmitted through serialization, without reliable encryption measures and identity verification. If there are illegal users, it may cause sensor data in the robot system. Leakage and injection of malicious control instructions, which can cause data loss, financial loss or even physical damage
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[0029] In order to make the purpose, design ideas, and technical solutions of the embodiments of the present invention clearer, the present invention will be further described below in conjunction with the accompanying drawings.
[0030] refer to Figure 1 to Figure 10 , a kind of attack method for robot operating system ROS message, described method comprises the steps:
[0031] Step 1: Build a simulation experiment environment based on the robot operating system ROS: the simulation platform includes two NvidiaJetson TX2 development boards, install the 16.04 version of the operating system Ubuntu, the Kinetic version of the robot operating system ROS and the Gazebo software platform on the TX2 development board;
[0032] Step 2: Two TX2 development boards installed with the robot operating system form a master-slave distributed network structure: figure 2 As shown, two Nvidia Jetson TX2 development boards are placed under the same wireless network for networking, and one TX...
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The invention discloses an attack method for a robot operating system ROS message. The method comprises the following steps: establishing a simulation experiment environment based on a robot operating system ROS; constructing a master-slave distributed network structure; performing a simulation experiment; the attacker analyzing the IP addresses of all the devices in the local area network and finding the ROS MASTER device and the slave device communicating with the ROS MASTER device; intercepting a data packet transmitted between the ROS MASTER and the slave through the TCPROS, storing the data packet to the local of an attacker system, and carrying out field analysis; in the attacker system, writing a filter by using an LUA language, and setting interception and tampering rules of a control signal data packet; the attacker attacking; and performing secondary verification on the ROS trolley in the physical environment. Aiming at loopholes and defects of a robot operating system ROS in the aspects of safety and confidentiality, tampering of control signals from a control center is achieved, and the motion state of the robot is changed.
Description
technical field [0001] The invention specifically relates to an attack method for a robot operating system ROS message, and belongs to the technical field of network security. Background technique [0002] ROS is a distributed open source robot operating system that has been widely used in scientific research, industrial applications, and commercial manufacturing. It is one of the most popular frameworks today. ROS is not an operating system for process management and scheduling in the traditional sense, but provides a structured communication layer. Nodes in the robot operating system are used as execution units, which increases the modularity of the system and improves code reuse. Rate. The robot operating system mainly includes topic communication and service communication. Topic communication is the most widely used publish / subscribe asynchronous communication mechanism in robot operating systems. It is a key bus for transmitting message data between nodes and is genera...
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IPC IPC(8): H04L29/06
CPCH04L63/1416H04L63/1433
Inventor 陈博俞钡钡杨望卓岳凯
Owner ZHEJIANG UNIV OF TECH