botsync / volta Goto Github PK
View Code? Open in Web Editor NEWLicense: BSD 3-Clause "New" or "Revised" License
License: BSD 3-Clause "New" or "Revised" License
Hi,
We notice that you are using topic names from ROS parameters at the following locations:
Although parameters are usually set in parameter files, they can also be changed by nodes. Specifically, other nodes in the same ROS application can also change the parameters listed above before it’s used, either by accident or intentionally (i.e., by potential attackers). Since the joy_teleop_node handles joystick inputs, changes to the cmd_vel_topic
, e_stop_pub_topic
, and joy_topic
parameters will directly affect the control of the robot. The robot will either ignore the control commands sent from the joystick, or ignore the e_stop commands. If there exists an attacker, she can even take over the robot by first fooling the joy_teleop_node to publish to a wrong velocity command topic e.g. joy/cmd_vel_fake
, and forwarding messages from joy/cmd_vel_fake
to joy/cmd_vel
after changing the contents, or publishing any control commands to joy/cmd_vel
as she wants. Because ROS is an OSS (open-source software) community, third-party nodes are widely used in ROS applications, usually without complete vetting of their behavior, which gives the opportunity to potentially malicious actors to inject malicious code (e.g, by submitting hypocrite commits like in other OSS systems [1]) to infiltrate the ROS applications that use it (or software supply chain attacks, one of the primary means for real-world attackers today [2]).
We understand that using parameters to set topic names brings flexibility. Still, for the purpose of security, we strongly suggest that you avoid such vulnerable programming patterns if possible. For example, to avoid the exposure of this specific vulnerability, you may consider alternatives like remapping, which is designed for configuring names when launching the nodes.
[1] Q. Wu and K. Lu, “On the feasibility of stealthily introducing vulnerabilities in open-source software via hypocrite commits,” 2021, https://linuxreviews.org/images/d/d9/OpenSourceInsecurity.pdf.
[2] Supply chain attacks are the hacker’s new favourite weapon. and the threat is getting bigger. https://www.zdnet.com/article/supply-chain-attacks-are-the-hackers-new-favourite-weapon-and-the-threat-is-getting-bigger/.
There is an error in the bringup.launch file in the volta_base package. In the launch file, the volta_harware_node from the volta_hardware package is included, but there is no such package available in the repository.
Below is screenshot from bringup.lauch file.
Can anyone help me where to find the volta_hardware package?
A declarative, efficient, and flexible JavaScript library for building user interfaces.
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google ❤️ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.