https://github.com/osrf/nodl_to_policy

https://github.com/osrf/nodl_to_policy

Last synced: 10 months ago
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• Host: GitHub
• URL: https://github.com/osrf/nodl_to_policy
• Owner: osrf
• License: apache-2.0
• Created: 2021-06-29T16:53:10.000Z (almost 5 years ago)
• Default Branch: master
• Last Pushed: 2021-10-27T12:02:37.000Z (over 4 years ago)
• Last Synced: 2025-07-07T17:16:10.725Z (12 months ago)
• Language: Python
• Size: 93.8 KB
• Stars: 0
• Watchers: 3
• Forks: 1
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.rst
  • Contributing: CONTRIBUTING.md
  • License: LICENSE

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README

          
# nodl_to_policy

[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)

[![Build status](https://github.com/osrf/nodl_to_policy/actions/workflows/test.yml/badge.svg)](https://github.com/osrf/nodl_to_policy/actions/workflows/test.yml)

This repository contains tooling to generate a [ROS 2 Access Control Policy](https://design.ros2.org/articles/ros2_access_control_policies.html) from the [Node Interface Definition Language (NoDL)](https://github.com/ros2/design/pull/266) description of a ROS system (or that of a specific package), primarily to be used in conjunction with the `SROS2` utilities.

## Building

* Clone this repository to a ROS workspace: `git clone git@github.com:osrf/nodl_to_policy.git /nodl_to_policy`

* Install required dependencies: `rosdep install -yri --from-paths  --rosdistro=galactic`

* Build with: `colcon build --symlink-install`

## Usage

### CLI

The `nodl_to_policy` package extends the ROS 2 CLI by adding a `nodl_to_policy` command, with an associated `convert` verb.

The expected use is as follows:

```bash

ros2 nodl_to_policy convert 

```

Invoking the `convert` verb as above dumps the resulting access control policy in the console standard output.

If desired, this output can be redirected (`>`) to `.policy.xml`.

### API

The NoDL → policy conversion method simply takes a NoDL description (type: `List[nodl.Node]`).

As such, the conversion API could be used programmatically as follows:

```python

from nodl_to_python.policy import convert_to_policy

# obtain a NoDL description, either through `nodl.parse()` or otherwise

policy = convert_to_policy(nodl_description)  # type(nodl_description) == List[nodl.Node]

# use policy, and/or output it using `nodl.dump_policy(policy, )`

```