jdumezy / seal-x-ros

A ROS package to use Microsoft SEAL for fully homomorphic encryption

SEAL-X-ROS

Overview

SEAL-X-ROS is a work in progress project to integrates the Microsoft SEAL (Simple Encrypted Arithmetic Library) with ROS2 (Robot Operating System), providing a framework for implementing fully homomorphic encryption in ROS-based applications. This project was developed as part of my final year project for my Master of engineering.

The package is built to share data between a client node (encryption and decryption) and a server node (computations on encrypted data) using services. As of right it is just a proof of concept and I have not yet added all of the functionality that I have planned.

Prerequisites

• ROS 2 (tested with Humble)
• Microsoft SEAL 4.1
• Zstandard (tested with 1.4.8)
• C++17 or higher

Installation

1. Install Microsoft SEAL following the instructions at SEAL GitHub. You need to turn the option SEAL_USE_ZSTD to ON as SEAL-X-ROS uses zstandard compression.
2. Clone this repository into your ROS workspace (e.g., ros2_ws/src/).

   git clone https://github.com/jdumezy/seal-x-ros.git

3. Build your ROS workspace.

   colcon build --packages-select seal_x_ros

Usage

Open two terminals in your ROS2 workspace and source ROS2:

source /opt/ros/humble/setup.zsh

Then run the setup script:

source install/setup.zsh

Finally, launch a client and a server node, one in each terminal:

ros2 run seal_x_ros sxr_client_node

ros2 run seal_x_ros sxr_server_node

Contributing

Contributions to the SEAL-X-ROS are welcome. Please submit a pull request or open an issue for any features, bugs, or improvements.

License

This project is licensed under the MIT License. See the LICENSE file for more details.