Using Husarnet & ROS
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Setting up the environmentAdd these lines to .bashrc (or .zshrc if you use zsh) of the user who will use ROS:
Sourcing the /opt/ros/kinetic/setup.bash
enables all ROS tools.
ROS_IPV6
makes ROS enable IPv6 mode - Husarnet is a IPv6 network. Setting ROS_MASTER_URI
to http://master:11311
ensures ROS will always connect to host called master
- which extact machine it is depends on the setting on the Husarnet Dashboard.
You can also set ROS_MASTER_URI
to other hostname - just be aware that Husarnet Dashboard ROS integration might not work as intended.
info
Note that after changing master
to other device on the Husarnet Dashboard you have to make sure that line starting from 127.0.01
in /etc/hosts
file contain host master
. Husarnet doesn't change this automatically for now.
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Use ROSRun roscore
on the device selected as master in Husarnet Dashboard. Now you can use ROS on all devices connected via Husarnet as if they were one device.
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Husarnet+ROS security#
PasswordsAlways remember that all advanced security measures are useless when you pick weak passwords. Make sure that you have strong passwords for:
- your Husarnet Dashboard account
- SSH login to your devices (or you have disabled password SSH login at all)
Especially watch out for the default SSH passwords on your SBC images! They are useful for initial SSH login, but you need to change them as soon as possible.
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ROS security modelROS itself doesn't have any built-in security. If somebody can connect to ROS master, he can control the whole robotic system. Fortunately, Husarnet makes your network secure - just make sure that you don't add untrusted devices to your Husarnet networks.
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FirewallHusarnet provides secure network layer for ROS - but you also need to ensure that no one can connect to your nodes and services from unsecured networks. Fortunetely, with husarnet-firewall
, this is really simple.
First, install husarnet-ros
package, if you don't already have it:
And enable the firewall:
That's all! Now all non-Husarnet incoming connections to your system will be denied.