An attack method against the ros message of the robot operating system

Abstract

An attack method for ROS messages in the robot operating system, build a simulation experiment environment based on the robot operating system ROS; build a master-slave distributed network structure; conduct simulation experiments; the attacker analyzes the IP addresses of all devices in the LAN to find the ROS The MASTER device and the slave device communicating with the ROS MASTER; intercept the data packets transmitted between the ROS MASTER and the slave through TCPROS, save them locally in the attacker system, and perform field analysis; use the LUA language in the attacker system to write filters The device sets the interception and tampering rules of the control signal data packet; the attacker implements the attack; the secondary verification is carried out on the ROS car in the physical environment; , realize the tampering of the control signal from the control center, and change the motion state of the robot.

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...

AI Technical Summary

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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