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RoboShield v2: an inline command firewall gateway for ROS 2 (Rust + rclrs, two-domain bridge, SROS2)
- Published
- Record updated
Summary
RoboShield v2 is an inline gateway for ROS 2 that bridges two DDS domains, a laptop-facing untrusted side and an isolated robot LAN, and is the only forwarding path between them. Every command passes a rule engine checking joint names, array lengths, NaN/inf, per-joint limits, sudden jumps, rate and replay, and repeated incidents or spoofed publishers trigger LOCKDOWN that holds the robot at its last safe pose until an operator re-arms it. The author reports a 1.37 µs median rule-engine time in Rust and +0.5 ms median end-to-end latency on a laptop, with NanoPi numbers still pending.