Thomas Moulard tmoulard@amazon.com
AWS RoboMaker, ROS 2 Security WG Lead
Is ROS 2 ready for
production?
A look at ROS 2 robustness, security and
performance.
2019-06-12

What we will cover
• AWS RoboMaker overview & architecture
• ROS 2 D New Features andTools
• New Quality of Service settings
• Code Quality Improvements
• Security
• Performance

Robotic Arms
International Space Station
Drones
Education
Water
Home
Self-Driving Vehicles
Autonomous Walker
Rover
Robot landscape

Robotic development is
difficult and time consuming
Hundreds of hours
spent building components
Many
prototyping iterations
Days spent setting
up and configuring
Months to building a realistic simulation
environment
Duplicated efforts integrating an
application management system

AWS RoboMaker capabilities
Development
Environment
SimulationCloud Extensions
for ROS
Fleet
Management

What’s new in ROS 2 D?

ROS 2 Quality of Service
• Quality of Service settings allow fine-grained control over ROS 2 communication
behavior. Each topic may have different settings.
• Available policies are:
• History
• Depth
• Reliability
• Durability
• Deadline (new in D!)
• Lifespan (new in D!)
• Liveliness (new in D!)

New in D: Quality of Service / Deadline
Send msg1Node 1
Receive msg1Node 2
msg1 Deadline
Success! Message is
received before deadline.
Send msg2Node 1
Receive msg2Node 2
msg2 Deadline
Failure! Message has not
been received on time.

New in D: Quality of Service / Lifespan
Send msg1Node 1
Receive msg1Node 2
msg1 Lifespan
Success! Message
delivered before expiry
date
Send msg2Node 1
Drop msg2Node 2
msg2 Lifespan
Failure! Message
delivered after expiry date

New in D: Quality of Service / Liveliness
HeartbeatNode
Node is considered alive
Node is not considered alive
Heartbeat Heartbeat Heartbeat
HeartbeatNode Heartbeat

New in D: Quality of Service / Try it yourself!
bit.ly/ros2-qos-demo

ROS 2 Code Quality Improvements
In ROS 2 D, we solved:
• 4 memory leaks impacting production
• 17 memory leaks impacting tests
• 2 data races impacting Fast RTPS
Fixed 89% of ASan detected defects.
Nightly run of GCC sanitizers (ASan/TSan) to detect:
• Lock Order Inversion (deadlocks)
• Data Races
• Unsafe Signal Handling
• Invalid Memory Access
• Memory Leaks
More information: bit.ly/ros2-sanitizer

ROS 2Threat Model
bit.ly/ros2-threat-model

ROS 2 Security
• ROS 1/2 footprinting
Aztarna by Alias robotics
bit.ly/aztarna
• ROS 2 SecurityTesting Framework (WIP)
bit.ly/ros2-sectest
• SROS 2 enables secure (signed or encrypted) communication
over DDS.
• Access Control can also be enabled.
• Built on top of the DDS Security Extension.
• Necessary to avoid data interception when communicating over
an insecure network link (Ethernet).
• For each node, a private key and a certificate is generated.
More information: bit.ly/sros2-demo
Join the ROS 2 Security Working group! Bi-weekly meetings to
discuss ROS 2 security improvements. Meetings are announced on
OSRF Discourse website.

iRobot BenchmarkingTools montreal
lyon hamburg
osaka
mandalay
ponce
barcelona geneva
georgetown arequipa
ROS 2 Crystal Performance on a Raspberry Pi 3.
More information: bit.ly/irobot-ros2-perf

Is ROS 2 Production Ready?
With the release of the first LTS ROS 2 release, ROS 2 ecosystem is
maturing quickly!
• Middleware improvements
• QoS features (deadline, lifespan, liveliness)
• Code Quality
• Nightly runs to detect memory and concurrency bugs early
• Security
• Secure communication using SROS 2
• Additional security tooling in development by Alias Robotics
and AWS
• Performance
• iRobot Performance Tools

Thank you!
We’re hiring!