Aztarna – A Footprinting Tool For Robots

Aztarna - A Footprinting Tool For Robots

This repository accommodates Alias Robotics’ aztarna, a footprinting software for robots.

Alias Robotics helps unique robotic producers assessing their safety and bettering their high quality of software program. By no means we encourage or promote the unauthorized tampering with operating robotic methods. This could cause critical human hurt and materials damages.


  • A checklist of the ROS nodes current within the system (Publishers and Subscribers)
  • For every node, the revealed and subscribed topis together with the subject sort
  • For every node, the ROS companies every of the nodes supply
  • A checklist of all ROS parameters current within the Parameter Server
  • A checklist of the lively communications operating within the system. A single communication consists of the concerned publiser/subscriber nodes and the matters


  • Determining if the system is a SROS grasp.
  • Detecting if demo configuration is in use.
  • A checklist of the nodes discovered within the system. (Extended mode)
  • A checklist of permit/deny insurance policies for every node.
    • Publishable matters.
    • Subscriptable matters.
    • Executable companies.
    • Readable parameters.

For Industrial routers


For manufacturing
Direcly from PyPi

pip3 set up aztarna

or from the repository:

pip3 set up .

For growth

pip3 set up -e .


python3 develop

Python 3.7 and the setuptools package deal is required for set up.

Install with docker

docker construct -t aztarna_docker .

Code utilization:

utilization: aztarna [-h] -t TYPE [-a ADDRESS] [-p PORTS] [-i INPUT_FILE]
               [-o OUT_FILE] [-e] [-r RATE] [--shodan] [--api-key API_KEY]


non-obligatory arguments:
  -h, --help            present this assist message and exit
  -t TYPE, --type TYPE  <ROS/ros/SROS/sros/IROUTERS/irouters> Scan ROS, SROS
                        hosts or Industrial routers
  -a ADDRESS, --address ADDRESS
                        Single handle or community vary to scan.
  -p PORTS, --ports PORTS
                        Ports to scan (format: 13311 or 11111-11155 or
  -i INPUT_FILE, --input_file INPUT_FILE
                        Input file of addresses to make use of for scanning
  -o OUT_FILE, --out_file OUT_FILE
                        Output file for the outcomes
  -e, --extended        Extended scan of the hosts
  -r RATE, --rate RATE  Maximum simultaneous community connections
  --shodan              Use shodan for the scan varieties that help it.
  --api-key API_KEY     Shodan API Key

Run the code (instance enter file):

aztarna -t ROS -p 11311 -i ros_scan_s20.csv

Run the code with Docker (instance enter file):

docker run -v <host_path>:/root -it aztarna_docker -t ROS -p 11311 -i <input_file>

Run the code (instance single ip handle):

aztarna -t ROS -p 11311 -a

Run the code (instance subnet):

aztarna -t ROS -p 11311 -a

Run the code (instance single ip handle, port vary):

aztarna -t ROS -p 11311-11500 -a

Run the code (instance single ip handle, port checklist):

aztarna -t ROS -p 11311,11312,11313 -a

Run the code (instance piping instantly from zmap):

zmap -p 11311 -q | aztarna -t SROS -p 11311

Run the code (instance seek for industrial routers in shodan)

aztarna -t IROUTERS --shodan --api-key <yourshodanapikey>

Run the code (instance seek for industrial routers in shodan, piping to file)

aztarna -t IROUTERS --shodan --api-key <yourshodanapikey> -o routers.csv


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