datetime:2024/11/19 15:12

author:nzb

ROS2源码加密混淆

• 安装 Cython

pip install Cython

• 创建ros1工作空间和包

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws  /src
ros2 pkg create --build-type ament_python ros2_cythonize_demo
cd ros2_cythonize_demo 
touch ros2_cythonize_demo/py_node.py

• 文件结构

ros2_cythonize_demo/
├── package.xml
├── resource
│   └── ros2_cythonize_demo
├── ros2_cythonize_demo
│   ├── __init__.py
│   └── py_node.py
├── setup.cfg
├── setup.py
└── test
    ├── test_copyright.py
    ├── test_flake8.py
    └── test_pep257.py

3 directories, 9 files

• setup.py

from Cython.Build import cythonize
from setuptools import find_packages, setup

package_name = 'ros2_cythonize_demo'

files = package_name + "/*.py"

setup(
    ext_modules=cythonize(files, compiler_directives={'language_level': "3"}, force=True, quiet=True),
    name=package_name,
    version='0.0.0',
    packages=find_packages(exclude=['test']),
    data_files=[
        ('share/ament_index/resource_index/packages',
            ['resource/' + package_name]),
        ('share/' + package_name, ['package.xml']),
    ],
    install_requires=['setuptools', "wheel",  "Cython"],
    zip_safe=True,
    maintainer='blues',
    maintainer_email='nzbwork@gmail.com',
    description='TODO: Package description',
    license='TODO: License declaration',
    tests_require=['pytest'],
    entry_points={
        'console_scripts': [
            "ros2_cythonize_demo = ros2_cythonize_demo.py_node:main"
        ],
    },
)

• py_node.py

#! /usr/bin/env python3
import rclpy
import rclpy.logging
from rclpy.node import Node

"""
tar -zcvf install.tar.gz --exclude=**/lib/*.py install/
"""


class LogNode(Node):
    def __init__(self, name):
        super().__init__(name)
        # self.get_logger().set_level(rclpy.logging.LoggingSeverity.DEBUG)
        self.get_logger().info("init LogNode")
        self.create_timer(0.001, self.logger_cb)

    def logger_cb(self):
        self.get_logger().info("hello world [info]")
        self.get_logger().debug("hello world [debug]")


def main(args=None):
    rclpy.init(args=args)

    node = LogNode(name='node')
    # 可以在这里添加节点的逻辑
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()


if __name__ == '__main__':
    main()

迁移

• cd ~/ros2_ws # 项目路径假设在~/ros2_ws
• colcon build
• tar -zcvf ros2_code.tar.gz --exclude=**/lib/*.py install/ # 排除源码
• 压缩包上传新机器
  • mkdir -p ~/ros2_ws/ && cd ros2_ws
  • 压缩包解压到~/ros2_ws
  • source /opt/ros/humble/setup.bash
  • source install/setup.bash
  • ros2 run ros2_cythonize_demo ros2_cythonize_demo

cythonize闭源后，日志打印error和warn报错解决

[INFO] [1732850295.663592467] [node]: init LogNode
[INFO] [1732850295.664980223] [node]: hello world [info]
Traceback (most recent call last):
  File "/home/blues/vscode_projects/cyan_demos/ros2_ws/install/cythonize_demo/lib/cythonize_demo/cythonize_demo", line 33, in <module>
    sys.exit(load_entry_point('cythonize-demo==0.0.0', 'console_scripts', 'cythonize_demo')())
  File "cythonize_demo/py_node.py", line 30, in cythonize_demo.py_node.main
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/__init__.py", line 222, in spin
    executor.spin_once()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once
    self._spin_once_impl(timeout_sec)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 736, in _spin_once_impl
    raise handler.exception()
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__
    self._handler.send(None)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 437, in handler
    await call_coroutine(entity, arg)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 351, in _execute_timer
    await await_or_execute(tmr.callback)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
    return callback(*args)
  File "cythonize_demo/py_node.py", line 21, in cythonize_demo.py_node.LogNode.logger_cb
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/impl/rcutils_logger.py", line 345, in error
    return self.log(message, LoggingSeverity.ERROR, **kwargs)
  File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/impl/rcutils_logger.py", line 299, in log
    raise ValueError('Logger severity cannot be changed between calls.')
ValueError: Logger severity cannot be changed between calls.
[ros2run]: Process exited with failure 1

• 解决方法：链接

from uuid import uuid4

from rclpy.impl.rcutils_logger import RcutilsLogger as RosLogger
from rclpy.node import Node


class NodeAdapter(Node):
    def __init__(self, node_name: str, *args, **kwargs) -> None:
        super().__init__(node_name, *args, **kwargs)

    def get_logger(self) -> RosLogger:
        unique_logger_name = f"{uuid4()}"
        return self._logger.get_child(unique_logger_name)

• 存在问题：频率打印失效

ros1 闭源