ROS Composition에서의 안전한 노드 메모리 할당에 관한 연구

Abstract

The Robot Operating System (ROS) has become a critical platform for developing advanced robotic systems across various fields,including smart homes, autonomous driving, and industrial automation. By modularizing complex robotic systems, ROS enables nodesto cooperate effectively while adopting a structure where each node operates as an independent process, ensuring fault isolation. However,the use of inter-process communication (IPC) introduces performance degradation and resource inefficiencies, particularly in scenariosinvolving frequent message exchanges or large-scale data processing. To address these challenges, ROS2 introduced the Compositionfeature, allowing multiple nodes to execute within a single process. While this approach improves communication efficiency by leveragingshared memory, it also raises potential security risks due to the shared address space. Specifically, loose memory access controls betweennodes increase the likelihood of security vulnerabilities, which existing mechanisms such as Secure ROS (SROS) struggle to mitigateeffectively. This paper proposes a novel method to enhance security and improve memory management in ROS Composition environments. By independently managing the memory segments of each node, the proposed mechanism prevents data interference and ensures securememory access. Experimental results demonstrate that the method maintains stable performance with a low overhead of 3% to 10%,effectively enhancing the security of ROS Composition environments.