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Namespacing Examples #2

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e926304
Removing unrelated files
ruffsl Sep 21, 2018
89b1084
Update profile
ruffsl Sep 21, 2018
c4fbbe0
Update CAs
ruffsl Sep 21, 2018
2075aee
Update source
ruffsl Sep 21, 2018
ebd2732
Update build
ruffsl Sep 21, 2018
35476c6
Add /foo and /foo/bar namespace examples
ruffsl Sep 21, 2018
1bc857a
Update readme
ruffsl Sep 21, 2018
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28 changes: 23 additions & 5 deletions README.md
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Expand Up @@ -10,13 +10,13 @@ scratch workspace for keymint testing
<profiles xmlns:xi="http://www.w3.org/2001/XInclude">
<profile name="My Talker Profile">
<attachments>
<attachment>/*/talker</attachment>
<attachment>*/talker</attachment>
</attachments>
<xi:include href="common/node.xml" parse="xml" />

<ros_topic qualifier="ALLOW">
<attachments>
<attachment>{namespace}/chatter</attachment>
<attachment>{namespace}chatter</attachment>
</attachments>
<permissions>
<ros_publish/>
Expand All @@ -26,13 +26,13 @@ scratch workspace for keymint testing

<profile name="My Listener Profile">
<attachments>
<attachment>/*/listener</attachment>
<attachment>*/listener</attachment>
</attachments>
<xi:include href="common/node.xml" parse="xml" />

<ros_topic qualifier="ALLOW">
<attachments>
<attachment>{namespace}/chatter</attachment>
<attachment>{namespace}chatter</attachment>
</attachments>
<permissions>
<ros_subscribe/>
Expand All @@ -47,12 +47,25 @@ scratch workspace for keymint testing
``` shell
cd ~/example
docker run -it --rm -v=`pwd`:/root/keymint_ws keymint/keymint_tools:latest
keymint keystore init --bootstrap=keymint_ros
keymint keystore init --bootstrap keymint_ros
cp talker_listener.xml profile/comarmor.d/

keymint keystore create_pkg talker
keymint keystore create_pkg foo/talker
keymint keystore create_pkg foo/bar/talker

keymint keystore create_pkg listener
keymint keystore create_pkg foo/listener
keymint keystore create_pkg foo/bar/listener

keymint keystore build_pkg src/talker
keymint keystore build_pkg src/foo/talker
keymint keystore build_pkg src/foo/bar/talker

keymint keystore build_pkg src/listener
keymint keystore build_pkg src/foo/listener
keymint keystore build_pkg src/foo/bar/listener

exit
```

Expand All @@ -63,6 +76,11 @@ export ROS_SECURITY_ROOT_DIRECTORY=`pwd`/install
export ROS_SECURITY_ENABLE=true
export ROS_SECURITY_STRATEGY=Enforce

ros2 run demo_nodes_cpp talker __ns:=/
ros2 run demo_nodes_cpp talker __ns:=/foo
ros2 run demo_nodes_cpp talker __ns:=/foo/bar

ros2 run demo_nodes_cpp listener __ns:=/
ros2 run demo_nodes_cpp listener __ns:=/foo
ros2 run demo_nodes_cpp listener __ns:=/foo/bar
```
7 changes: 0 additions & 7 deletions build/add_two_ints_client/csr.pem
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5 changes: 0 additions & 5 deletions build/add_two_ints_client/key.pem
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55 changes: 0 additions & 55 deletions build/add_two_ints_client/permissions.xml
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7 changes: 0 additions & 7 deletions build/add_two_ints_server/csr.pem
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5 changes: 0 additions & 5 deletions build/add_two_ints_server/key.pem
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55 changes: 0 additions & 55 deletions build/add_two_ints_server/permissions.xml
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0 build/add_two_ints_client/KEYMINT_IGNORE → build/foo/bar/listener/KEYMINT_IGNORE
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7 changes: 7 additions & 0 deletions build/foo/bar/listener/csr.pem
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-----BEGIN CERTIFICATE REQUEST-----
MIHnMIGOAgEAMBsxGTAXBgNVBAMMEGZvby9iYXIvbGlzdGVuZXIwWTATBgcqhkjO
PQIBBggqhkjOPQMBBwNCAAQvAsXq5OYEcy1r5azXYTd1QnV3ZyIxvY2GF25XaFSX
R2oc5K9iNk5Nd3LhuVD8XA9a0VBNaiRjMs578cdKcRCQoBEwDwYJKoZIhvcNAQkO
MQIwADAKBggqhkjOPQQDAgNIADBFAiBFCND9y+sXhjyOOXqCoXVc6j7dmt8P4IEw
EGt/yDl71QIhAJdWPliTzdddSbKFERhFSDBdbgUxedEj+aKpwnqqv37S
-----END CERTIFICATE REQUEST-----
0 build/add_two_ints_client/governance.xml → build/foo/bar/listener/governance.xml
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5 changes: 5 additions & 0 deletions build/foo/bar/listener/key.pem
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-----BEGIN EC PRIVATE KEY-----
MHcCAQEEIALQ5MOldBwQ1sP4U9QY0gfVgiEdUfoVej+70YpQot+ZoAoGCCqGSM49
AwEHoUQDQgAELwLF6uTmBHMta+Ws12E3dUJ1d2ciMb2NhhduV2hUl0dqHOSvYjZO
TXdy4blQ/FwPWtFQTWokYzLOe/HHSnEQkA==
-----END EC PRIVATE KEY-----
54 changes: 54 additions & 0 deletions build/foo/bar/listener/permissions.xml
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<?xml version="1.0" encoding="utf-8"?>
<dds>
<permissions>
<grant name="foo/bar/listener">
<subject_name>CN=foo/bar/listener</subject_name>
<validity>
<not_before>2013-10-26T00:00:00</not_before>
<not_after>2023-10-26T22:45:30</not_after>
</validity>
<allow_rule>
<domains>
<id>0</id>
</domains>
<subscribe>
<topics>
<topic>rt/clock</topic>
<topic>rt/foo/bar/parameter_events</topic>
<topic>rt/foo/bar/chatter</topic>
<topic>rr/foo/bar/listener/describe_parametersReply</topic>
<topic>rr/foo/bar/listener/get_parameter_typesReply</topic>
<topic>rr/foo/bar/listener/get_parametersReply</topic>
<topic>rr/foo/bar/listener/list_parametersReply</topic>
<topic>rr/foo/bar/listener/set_parametersReply</topic>
<topic>rr/foo/bar/listener/set_parameters_atomicallyReply</topic>
<topic>rq/foo/bar/listener/describe_parametersRequest</topic>
<topic>rq/foo/bar/listener/get_parameter_typesRequest</topic>
<topic>rq/foo/bar/listener/get_parametersRequest</topic>
<topic>rq/foo/bar/listener/list_parametersRequest</topic>
<topic>rq/foo/bar/listener/set_parametersRequest</topic>
<topic>rq/foo/bar/listener/set_parameters_atomicallyRequest</topic>
</topics>
</subscribe>
<publish>
<topics>
<topic>rt/foo/bar/parameter_events</topic>
<topic>rq/foo/bar/listener/describe_parametersRequest</topic>
<topic>rq/foo/bar/listener/get_parameter_typesRequest</topic>
<topic>rq/foo/bar/listener/get_parametersRequest</topic>
<topic>rq/foo/bar/listener/list_parametersRequest</topic>
<topic>rq/foo/bar/listener/set_parametersRequest</topic>
<topic>rq/foo/bar/listener/set_parameters_atomicallyRequest</topic>
<topic>rr/foo/bar/listener/describe_parametersReply</topic>
<topic>rr/foo/bar/listener/get_parameter_typesReply</topic>
<topic>rr/foo/bar/listener/get_parametersReply</topic>
<topic>rr/foo/bar/listener/list_parametersReply</topic>
<topic>rr/foo/bar/listener/set_parametersReply</topic>
<topic>rr/foo/bar/listener/set_parameters_atomicallyReply</topic>
</topics>
</publish>
</allow_rule>
<default>DENY</default>
</grant>
</permissions>
</dds>
0 build/add_two_ints_server/KEYMINT_IGNORE → build/foo/bar/talker/KEYMINT_IGNORE
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7 changes: 7 additions & 0 deletions build/foo/bar/talker/csr.pem
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-----BEGIN CERTIFICATE REQUEST-----
MIHkMIGMAgEAMBkxFzAVBgNVBAMMDmZvby9iYXIvdGFsa2VyMFkwEwYHKoZIzj0C
AQYIKoZIzj0DAQcDQgAE05zZJVQeNJsfTblKGNDFxAf5p/zIBcNeGezukC6X5wQb
ZfGyidYpl+9GWk/iHWFWcFszaHpFux1DUx0LvbPxK6ARMA8GCSqGSIb3DQEJDjEC
MAAwCgYIKoZIzj0EAwIDRwAwRAIgAqM+lYs/BXnWm6PcTobgyDvyajC27OkU5L7c
GfdEhvwCIDfGHDRrxIu7Ux0aaGyNpWgetAWnMt6Q1XHGztv+JboZ
-----END CERTIFICATE REQUEST-----
0 build/add_two_ints_server/governance.xml → build/foo/bar/talker/governance.xml
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5 changes: 5 additions & 0 deletions build/foo/bar/talker/key.pem
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-----BEGIN EC PRIVATE KEY-----
MHcCAQEEIJsmpMLRr3WS13ULFVPr+lIPH8IigKVv8RQnHMpqgAXhoAoGCCqGSM49
AwEHoUQDQgAE05zZJVQeNJsfTblKGNDFxAf5p/zIBcNeGezukC6X5wQbZfGyidYp
l+9GWk/iHWFWcFszaHpFux1DUx0LvbPxKw==
-----END EC PRIVATE KEY-----
54 changes: 54 additions & 0 deletions build/foo/bar/talker/permissions.xml
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@@ -0,0 +1,54 @@
<?xml version="1.0" encoding="utf-8"?>
<dds>
<permissions>
<grant name="foo/bar/talker">
<subject_name>CN=foo/bar/talker</subject_name>
<validity>
<not_before>2013-10-26T00:00:00</not_before>
<not_after>2023-10-26T22:45:30</not_after>
</validity>
<allow_rule>
<domains>
<id>0</id>
</domains>
<subscribe>
<topics>
<topic>rt/clock</topic>
<topic>rt/foo/bar/parameter_events</topic>
<topic>rr/foo/bar/talker/describe_parametersReply</topic>
<topic>rr/foo/bar/talker/get_parameter_typesReply</topic>
<topic>rr/foo/bar/talker/get_parametersReply</topic>
<topic>rr/foo/bar/talker/list_parametersReply</topic>
<topic>rr/foo/bar/talker/set_parametersReply</topic>
<topic>rr/foo/bar/talker/set_parameters_atomicallyReply</topic>
<topic>rq/foo/bar/talker/describe_parametersRequest</topic>
<topic>rq/foo/bar/talker/get_parameter_typesRequest</topic>
<topic>rq/foo/bar/talker/get_parametersRequest</topic>
<topic>rq/foo/bar/talker/list_parametersRequest</topic>
<topic>rq/foo/bar/talker/set_parametersRequest</topic>
<topic>rq/foo/bar/talker/set_parameters_atomicallyRequest</topic>
</topics>
</subscribe>
<publish>
<topics>
<topic>rt/foo/bar/parameter_events</topic>
<topic>rt/foo/bar/chatter</topic>
<topic>rq/foo/bar/talker/describe_parametersRequest</topic>
<topic>rq/foo/bar/talker/get_parameter_typesRequest</topic>
<topic>rq/foo/bar/talker/get_parametersRequest</topic>
<topic>rq/foo/bar/talker/list_parametersRequest</topic>
<topic>rq/foo/bar/talker/set_parametersRequest</topic>
<topic>rq/foo/bar/talker/set_parameters_atomicallyRequest</topic>
<topic>rr/foo/bar/talker/describe_parametersReply</topic>
<topic>rr/foo/bar/talker/get_parameter_typesReply</topic>
<topic>rr/foo/bar/talker/get_parametersReply</topic>
<topic>rr/foo/bar/talker/list_parametersReply</topic>
<topic>rr/foo/bar/talker/set_parametersReply</topic>
<topic>rr/foo/bar/talker/set_parameters_atomicallyReply</topic>
</topics>
</publish>
</allow_rule>
<default>DENY</default>
</grant>
</permissions>
</dds>
0 build/launch_ros/KEYMINT_IGNORE → build/foo/listener/KEYMINT_IGNORE
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7 changes: 7 additions & 0 deletions build/foo/listener/csr.pem
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-----BEGIN CERTIFICATE REQUEST-----
MIHkMIGKAgEAMBcxFTATBgNVBAMMDGZvby9saXN0ZW5lcjBZMBMGByqGSM49AgEG
CCqGSM49AwEHA0IABGHUsouzYphpXeURhZDpALWq4v4dP88qfV4zghJBiomvs8Ee
yEaTzyDGmwT2otXwd+N9P3Rd3M2C3l160y+gQQSgETAPBgkqhkiG9w0BCQ4xAjAA
MAoGCCqGSM49BAMCA0kAMEYCIQDyaZNGQLXlO764tyV4G28lbhXkaWs2HMtQ1IqE
ppRLQwIhAK7EztDO9fZ8NK62erLBSOos6UfwWl9I42sCeg0igscu
-----END CERTIFICATE REQUEST-----
0 build/launch_ros/governance.xml → build/foo/listener/governance.xml
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5 changes: 5 additions & 0 deletions build/foo/listener/key.pem
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-----BEGIN EC PRIVATE KEY-----
MHcCAQEEIL/Tir8kyyg9K6KAv5Od7ECBUe6PSvu64hH99UFhp4/+oAoGCCqGSM49
AwEHoUQDQgAEYdSyi7NimGld5RGFkOkAtari/h0/zyp9XjOCEkGKia+zwR7IRpPP
IMabBPai1fB3430/dF3czYLeXXrTL6BBBA==
-----END EC PRIVATE KEY-----
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