ROS 2 Scanner

This repository sends a crafted RTPS packet to public IP addresses in the IPv4 space. The Python script utilizes a random permutation of the IPv4 address space for efficiency and to prevent overwhelming subnets, while taking advantage of existing packet libraries like scapy.

Prerequisites

Python 3.10 or later is needed to run the code in this repository.

Setup

1. Create a virtual environment by running python3 -m venv .venv and activate it by running . .venv/bin/activate if you are on a Unix-based system or .\.venv\Scripts\activate.bat if you are on a Windows system.

2. Install dependencies by running pip install -r requirements.txt.

3. In run_scanner.sh, change the $HOME_DIR variable to point to the root directory of this project.

4. In unicast_probing.py, change the <COLLECTOR_SERVER_IP> to the IP address of your collector server. Ensure that the server has ports 7400, 7410, 7411, and 7412 open so that it can receive the responses.

5. Run ./run_scanner.sh to initiate the scanning process.

• If you would like to run this as a systemctl service, a service file is provided. Please update the ExecStart field with the correct path of the project and copy the file over where your system files are stored. Then run sudo systemctl start scapy-rtps-experimentation.service.