Safety Benchmark with System Modes

This repository contains an example of how to use system modes to control the security of a system. The system comprises four lifecycle nodes: nav2, manipulator, camera, and guard.

There are two modes of operation: __DEFAULT__: The system works normally, and all nodes are in __DEFAULT__ mode. __COMPROMISED__: The system has been compromised. All nodes are in __COMPROMISED__ mode, and the camera node is down.

Guard is a node in charge of determining if the system is compromised. If this node detects this situation, it becomes in __COMPROMISED__ mode, triggering the change of the rest of the nodes to __COMPROMISED__ state.

File describing the system is in benchmark_modes.yaml

Build

Just clone in your workspace and install dependencies with rosdep:

$ cd {workspace}
$ git clone https://github.com/DMARCE-PROJECT/system_modes_benchmark.git
$ rosdep install --from-paths src --ignore-src -r -y
$ colcon build --symlink-install

How to run

1. (recommended) In terminal 1 launch the mode_monitor

ros2 launch system_modes mode_monitor.launch.py modelfile:=install/system_modes_benchmark/share/system_modes_benchmark/benchmark_modes.yaml

2. In terminal 2 launch teh system

ros2 launch system_modes_benchmark benchmark_system_started.launch.py

3. In terminal 3 Change the modes and params to see how the system evolves:
   1. ros2 service call /guard/change_mode system_modes_msgs/srv/ChangeMode "{mode_name: 'COMPROMISED'}"
   2. ros2 service call /guard/change_mode system_modes_msgs/srv/ChangeMode "{mode_name: '__DEFAULT__'}"
   3. ros2 param set /guard compromised_system true
   4. ...

references

• https://micro.ros.org/docs/concepts/client_library/lifecycle_and_system_modes/
• https://github.com/micro-ROS/system_modes
• https://github.com/micro-ROS/system_modes/tree/master/system_modes_examples