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MoveIt 2 Demo

Join the Security Working Group for a demo of MoveIt2 next Tuesday! This virtual meeting will led by Henning Kayser, MoveIt2 Development Lead, on Tuesday January 12 at noon EST.

In late 2020 the Security Working Group set a goal of documenting a fully-enabled security implementation for one or more real-world systems. We plan to document a reference implementation that others can follow, and also use this to explore more complex configurations such as topic-level security, CPU utilization and so on. The purpose of this demo is explore MoveIt2 as a potential use case–to become familiar with the platform and explore how to secure it with SROS2.

Meeting details are below, we look forward to seeing you there! We also plan on recording the demo if you’re unable to attend in person.

Meeting Details:

Join by telephone:
(‪US‬) ‪+1 617-675-4444‬
PIN: ‪214 742 925 0180#‬


Thank you to Henning for a great discussion on MoveIt 2 and security yesterday! A recording of the meeting is available been posted in the ROS 2 Working Groups YouTube channel:

  • 00:00 Intro
  • 01:49 Features and Interfaces: MoveGroup
  • 07:17 Features and Interfaces: MoveItCpp API
  • 08:12 Features and Interfaces: MoveIt Servo
  • 08:58 MoveGroup use case and ROS vulnerabilities
  • 11:15 Hardware security
  • 13:52 What is the motivation for security in MoveIt?
  • 19:35 An overview of SROS2 and what it enables: encryption for privacy, message integrity checking
  • 27:35 How NoDL fits in with security by automatically generating security artifacts
  • 32:45 Logging considerations
  • 35:40 A use case for using certificates to separate hardware code from consumer code
  • 39:33 Getting started simulating MoveIt 2; exploring how to secure a remote rviz instance
  • 45:36 Exploring the size of the ros graph generated with the MoveGroup demo
  • 51:11 Handling security failures in the proposed rviz use case