Design and Implementation of ROS2 Security Module for Performance and Security Harmonization

초록

The security of Robot Operating System 2 (ROS 2) is crucial for ensuring the safety of individual robotic systems and the reliability of the environments in which they operate. Although Secure ROS 2 (SROS2) enhances security via Data Distribution Service (DDS) Security for authentication, access control, and data encryption, it has several limitations. The complexity of managing security artifacts and the degradation of communication performance are two primary concerns. To address these challenges, we propose the ROS 2 Security (ROS2Sec) module, which enhances ROS 2 security while minimizing communication performance degradation. ROS2Sec introduces centralized authentication management and group-based access control, thus reducing the number of security artifacts from seven for SROS2 to only three, thereby simplifying management. Additionally, ROS2Sec employs the Advanced Encryption Standard in Galois/Counter Mode at the ROS 2 message level to optimize data confidentiality while minimizing overhead. Experimental results demonstrate that the proposed ROS2Sec prevents unauthorized access by malicious ROS 2 nodes, reduces the mean communication latency by approximately 9% compared with that of SROS2, and maintains stable performance even as the number of subscribers increases. These findings confirm that ROS2Sec balances security and communication performance and is a practical solution for secure and efficient ROS 2-based robotic systems.

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