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Groot2Publisher: add a constructor that takes the bind address - #1251
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The publisher always bound its two ZeroMQ sockets to tcp://*, so they were reachable from every network interface. The Groot2 protocol has no authentication, and a client that can reach the port can not only read the tree and its blackboards but also insert hooks that replace node results. Add Groot2Publisher(tree, server_port, bind_address), e.g. "127.0.0.1" to accept local connections only. The existing constructor delegates to it with "*", so its behavior and exported symbol are unchanged. Document the security implications in the class comment. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Motivation
Groot2Publisheralways binds its sockets totcp://*:<port>andtcp://*:<port+1>, so they are reachable from every network interface. The Groot2 protocol has no authentication. A client that can reach the request port can read the tree XML and the blackboards (FULLTREE,BLACKBOARD). It can also insert hooks (HOOK_INSERT) that replace a node's result, so the node'stick()is skipped. Applications had no way to restrict this short of firewall rules.Change
Groot2Publisher(const Tree&, unsigned server_port, const std::string& bind_address). It accepts any ZeroMQ tcp interface spec:"127.0.0.1"for local connections only, an interface name such as"eth0", or"*".Groot2Publisher(tree, port = 1667)delegates to it with"*". No behavior change and no ABI change: the old symbol is still exported, and the new state lives in the existing PImpl.Switching the default to loopback would be safer. It would also break everyone who runs Groot2 on a different machine than the robot, so that's left for a separate discussion.
Tests
Groot2PublisherIntegration.BindToLoopbackAddress: a publisher bound to127.0.0.1answersFULLTREE.Groot2PublisherIntegration.InvalidBindAddressThrows: an invalid interface throwszmq::error_tinstead of falling back silently.🤖 Generated with Claude Code