pip3 install aztarna

pip3 install .

pip3 install -e .

python3 setup.py develop

docker build -t aztarna_docker .

usage: aztarna [-h] -t TYPE [-a ADDRESS] [-p PORTS] [-i INPUT_FILE]
               [-o OUT_FILE] [-e] [-r RATE] [-d DOMAIN] [--daemon] [--hidden]
               [--shodan] [--api-key API_KEY] [--passive PASSIVE]

Aztarna

optional arguments:
  -h, --help            show this help message and exit
  -t TYPE, --type TYPE  <ROS/ros/SROS/sros/ROS2/ros2/IROUTERS/irouters> Scan
                        ROS, SROS, ROS2 hosts or Industrial routers
  -a ADDRESS, --address ADDRESS
                        Single address or network range to scan.
  -p PORTS, --ports PORTS
                        Ports to scan (format: 13311 or 11111-11155 or
                        1,2,3,4)
  -i INPUT_FILE, --input_file INPUT_FILE
                        Input file of addresses to use for scanning
  -o OUT_FILE, --out_file OUT_FILE
                        Output file for the results
  -e, --extended        Extended scan of the hosts
  -r RATE, --rate RATE  Maximum simultaneous network connections
  -d DOMAIN, --domain DOMAIN
                        ROS 2 DOMAIN ID (ROS_DOMAIN_ID environmental
                        variable). Only applies to ROS 2.
  --daemon              Use rclpy daemon (coming from ros2cli).
  --hidden              Show hidden ROS 2 nodes. By default filtering
                        _ros2cli*
  --shodan              Use shodan for the scan types that support it.
  --api-key API_KEY     Shodan API Key
  --passive PASSIVE     Passive search for ROS2

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

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

aztarna -t ROS -p 11311 -a 115.129.241.241

aztarna -t ROS -p 11311 -a 115.129.241.0/24

aztarna -t ROS -p 11311-11500 -a 115.129.241.241

aztarna -t ROS -p 11311,11312,11313 -a 115.129.241.241

aztarna -t ROS2

aztarna -t ROS2 -d 15

aztarna -t ros2 -d 0 --daemon --hidden

aztarna -t ros2 --passive any

zmap -p 11311 0.0.0.0/0 -q | aztarna -t SROS -p 11311

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

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

@ARTICLE{2018arXiv181209490V,
  author = {{Vilches}, V{\'\i}ctor Mayoral and {Mendia}, Gorka Olalde and
  {Baskaran}, Xabier Perez and {Cordero}, Alejandro Hern{\'a}ndez
  and {Juan}, Lander Usategui San and {Gil-Uriarte}, Endika and
  {de Urabain}, Odei Olalde Saez and {Kirschgens}, Laura Alzola},
  title = "{Aztarna, a footprinting tool for robots}",
  journal = {arXiv e-prints},
  keywords = {Computer Science - Cryptography and Security, Computer Science - Robotics},
  year = 2018,
  month = Dec,
  eid = {arXiv:1812.09490},
  pages = {arXiv:1812.09490},
  archivePrefix = {arXiv},
  eprint = {1812.09490},
  primaryClass = {cs.CR},
  adsurl = {https://ui.adsabs.harvard.edu/\#abs/2018arXiv181209490V},
  adsnote = {Provided by the SAO/NASA Astrophysics Data System}
}