Fix remote code execution due to pickle #37
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Summary
Closes #34.
The problem with using ROS serialization only is that we also have to send the message metadata (topic, hostname, latched, message type). To send them, we need another type of container. A module like
structis not really suitable because it does not support variable-length data like strings.So now, the serialization is used on the message. Then, this is added to a dict with the other metadata. This is then pickled, compressed, and encrypted. Because the pickle now only uses native types (
str,bool,bytes), we can forbid any other kind of data. Due to the serialization of the message, we now also have to send the message type, it is no longer coded into the pickle object.