Clarification on ROS's port usage

asked 2011-04-13 09:11:08 -0600

According to this page: http://www.ros.org/wiki/ROS/NetworkSetup, for nodes on two computers to communicate, all ports must be open.

Doesn't this raise security concerns?
Is it really all ports? Isn't it only ports above 1024 or perhaps a smaller subset?

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answered 2011-04-14 12:54:46 -0600

kwc
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ROS clients typically bind to port 0. This will generally return socket port numbers > 1024. On a default Ubuntu installation, for example, you need superuser to bind <= 1024.

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answered 2011-05-09 03:57:17 -0600

baxelrod

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Actually, an ephemeral port will be used. The exact range of which can vary by OS and kernel. See for more info: http://www.ncftp.com/ncftpd/doc/misc/ephemeral_ports.html

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