MoveIt 2 Demo

Next Generation ROS
2

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
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