SROS2 Policy Clustering

A tool to cluster SROS2 XML permission policies into security enclaves based on permission similarity and communication flows. This helps group ROS2 nodes for enhanced security and operational efficiency.

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Features

• Parses SROS2 XML policy files and extracts permissions
• Computes permission similarity using Jaccard distance
• Supports hierarchical clustering with adjustable threshold
• Generates clustered policy XML files for enclave deployment
• Reports inter-enclave communication flows and node exposure
• Configurable via simple command-line interface

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Installation

This project requires Python 3.11.13.

git clone https://github.com/giacomozanatta/sros2-policy-clustering.git
cd sros2-policy-clustering
python3.11 -m venv venv
source venv/bin/activate
pip install -r requirements.txt

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Usage

Run the clustering tool with:

python3 main.py --policy_dir ./policies --output_dir ./output --threshold 0.8

For example:

python3 main.py --policy_dir ./permissions/Catch2023_hitchens --output_dir ./output --threshold 0.8

• --policy_dir : Directory containing your SROS2 XML policy files (default: ./policies)
• --output_dir : Directory where the reports and clustered policies will be saved (default: ./output)
• --threshold : Clustering distance threshold between 0 and 1 (default: 0.8)

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Output

• clustering_report.txt: Summary of clusters, node assignments, inter-enclave flows, and exposure points
• clustered_policy.xml: New policy XML grouping nodes into clusters/enclaves

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Development

To install dependencies:

pip3 install -r requirements.txt