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The trend toward autonomous robot deployments is on an upward growth curve.These robots are undertaking new tasks and are being integrated into society.Examples of this trend are autonomous vehicles, humanoids, and eldercare. Themovement from factory floors to streets and homes has also increased the numberof vulnerabilities that adversaries can utilize. To improve security, RobotOperating System (ROS) 2 has standardized on using Data Distributed Services(DDS) as the messaging layer, which supports a security standard for protectingmessages between parties with access control enforcement. DDS security isdependent on the OpenSSL and a security configuration file that specifiessensitive data location. DSS Security assumes that the underlining OperatingSystem (OS) is secure and that the dependencies are consistent, but ongoingintegrity checks are not performed. This paper looks at two vulnerabilitiesthat we exploit using an OpenSSL spy process and a security property filemanipulation. An overview of each exploit is provided with an evaluation ofmitigation technologies that may be employed in client computers, servers, andother areas. Since, ROS 2 and DDS run in user space, these processes are proneto vulnerabilities. We provide recommendations about mitigation technology, ascurrently autonomous platforms are being deployed without safe-guards for on oroff-line threats. The Trust Platform Module (TPM) is new to robotic systems,but the standard usage model does not provide risk mitigation above the OSlayer for the types of attacks we discuss.

Credential Masquerading and OpenSSL Spy: Exploring ROS 2 using DDS security