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Newbie trying to hack robotic system problem

I'm pretty new to dealing with OS and Robotic Systems and I'm trying to find vulnerabilities within this described robotic system (TurtleBot 3 Burger RPi4 4GB). I would appreciate any help. I thought of trying to compromise the Master Network, but I have no idea how to do that.

Here's the description:

In Level 0 of the structure, the physical components of the robot responsible for acquiring data and interacting with the environment (i.e., sensors and actuators) can be found. They can be grouped into three major subgroups: cameras, all the sensors embedded on the robot (i.e., LiDAR, gyroscope, accelerometer, and magnetometer), and the platform itself—housing all the different hardware such as sensors, computers, and locomotion means.

Level 1 involves the basic connections between the elements mentioned above and the computer embedded in the robot responsible for controlling everything. All sensors and cameras are connected to the robot computer through the ports on the computer board. There is a Wi-Fi router to create a Master Network, which provides the communication between the Robot Computer and External Computer.

Level 2 consists of the Robot Operating System (ROS) Network. The ROS Network can involve as many devices and computers as needed, as long as there is a device running the Master. In this case, the Robot Computer acts as a Master, and the External Computer connects to the ROS Network to interact with it. This interaction is bi-directional, allowing the robotic platform to attend to any command given by the External Computer, and the External Computer to visualize any data coming from the robotic platform. Within the ROS Network, multiple nodes are running, each managing all the different functionalities of the robot (e.g., autonomous navigation, localization, all the different sensors, control of the motors). The ROS nodes publish/receive information in the way of ROS Topics and can receive/give commands in ROS Services.

Level 3 demonstrates the basic tasks fulfilled by the robotic system, which involves the autonomous control of the robot. By using the ROS Services and publishing into the ROS Topics, the platform can communicate with all the different sensors and actuators autonomously.

Level 4 is the Human-Machine Interaction (HMI) layer. ROS provides multiple graphical user interfaces (GUIs) to interact and visualize the information of the robot, the most important one being the visualization software for the robot sensors, running in the External Computer to achieve autonomous mapping and localization using SLAM algorithms. This level overrides any command issued by Level 3.

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Black Hat Ethical Hacking
How to Exploit “improper error handling” in Web Applications

How to Exploit “improper error handling” in Web ApplicationsPost Views: 16 Premium Contenthttps://www.blackhatethicalhacking.com/wp-content/uploads/2022/09/Patreon.png Subscribe to Patreon to watch this episode.
Reading Time: 5 Minutes IntroductionIn this write up, we will explain of how Improper Error Handling Vulnerabilities can be exploited.

We will discuss and demonstrate how improper error handling vulnerabilities can be exploited in Web Applications. We will also discuss how various types of error handling can introduce various types of attack vectors.

As a bug bounty hunter or penetration tester performing web app auditing, you encounter some errors that are displayed on the page itself, we will show you how to interpret some of them, and understand how these errors can be exploited. We will go through the various improper error handling scenarios that can lead to advanced attacks.
Trending: Write up: How Misconfigurations in Linux can leave you vulnerable to Attackers Error Based Injection VulnerabilitiesThere are various types of web vulnerabilities, which can easily be exploited due to the errors the web applications throwback in the response. One of the most famous injection-based attacks is SQL. When user input is not sufficiently sanitized, SQL Injection vulnerabilities can take place. SQL errors are returned to the user, in HTTP responses. The following example shows how an SQL Injection vulnerability can be exploited using errors thrown directly into the HTTP response on the page itself.

For example, let us consider the following SQL injection payload used against a purposely vulnerable web application: DVWA (Damn Vulnerable Web Application) that we have installed:

http://192.168.0.40:8080/vulnerabilities/sqli/?id=%27%20order%20by%205-+&Submit=Submit#

Following is the response we get on the page itself:

‘Unknown column ‘5’ is ‘order clause’

As you can see, to a normal user it could just be nothing, some code, but to a hacker, this response tells him that Column 5 does not exist in the table the page is interacting with.
See Also: So you want to be a hacker? Complete Offensive Security and Ethical Hacking Course
With the same concept, exploitation of other injection-based vulnerabilities can also rely on errors thrown in the response. Let’s consider the following excerpt returned in response to an XML External Entity (XXE) injection-based payload: HTTP/1.1 500 Internal Server ErrorContent-Type: application/xmlContent-Length: 2467<?xml<root<errors<errormessagejava.io.FileNotFoundException: file:///test/root:x:0:0:root:x:0:0:root:/root:/bin/bashAs we can observe, a 500 Internal Server Error was thrown, but the requested file /etc/passwd was read and returned an HTTP response. daemon:x:1:1:daemon:/usr/sbin:/bin/shbin:x:2:2:bin:/bin:/bin/shsys:x:3:3:sys:/dev:/bin/shLeaking Internal Software VersionsImproper Error handling is often not directly exploited, but unhandled error display to the user can reveal sensitive information that can lead to further exploitation.

Let us check this error 500, which we sometimes discover, and do not know what it can indicate:

https://www.blackhatethicalhacking.com/wp-content/uploads/2022/09/SS1-1024x464.png
The error in Image should have been handled using a custom error page instead of leaving it as it is. From the error above, we can notice that the version installed on the target is 7.0.68. A quick search on cvedetails.com reveals that Apache tomcat 7.0.68 has several vulnerabilities ranging from high to low. The[...]
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Black Hat Ethical Hacking How to Exploit “improper error handling” in Web Applications How to Exploit “improper error handling” in Web ApplicationsPost Views: 16 Premium Contenthttps://www.blackhatethicalhacking.com/wp-content/uploads/2022/09/Patreon.png…
following link shows a full list of CVEs registered against this version: https://www.cvedetails.com/vulnerability-list/vendor_id-45/product_id-887/version_id-199716/Apache-Tomcat-7.0.68.html

As you can see, among the vulnerabilities listed in the link provided above, there is a serious one, an RCE (Remote Code Execution) vulnerability present, which can be exploited under specific conditions. It is a vulnerability in the CGI Servlet which is only exploitable when running on Windows in a non-default configuration in conjunction with batch files.

This means, that if you can study the exploit and demonstrate a working Proof of Concept (POC), you can achieve having remote access to that server directly.
Trending: Offensive Security Tool: WEF (WiFi Exploitation Framework) Logical Based VulnerabilitiesThere are different scenarios when vulnerabilities such as Apple goto fail, can be introduced due to improper error handling. Apple’s goto fail bug was caused due to a single line of insecure code, that is used for validating ‘invalid certificates’ incorrectly. This can result in an invalid certificate being quietly accepted as valid, in apple software.

Below is an example of that: if ((err = SSLHashSHA1.update(&hashCtx, &signedParams)) != 0) goto fail;goto fail;… other checks …fail:… buffer frees (cleanups) …return err;This code snippet is shown in the example and the excerpt above has ‘goto’ fail lines. The second line always executes leading to an SSL verification bypass. This additional line appeared to have been added to the code by mistake, done by the developer. This simple mistake can lead to a security problem and consequences.

Similarly, many developers try to avoid errors in the development phase to ease the business for their company, by disabling important security features. If the code is moved to production with these changes, it can lead to security vulnerabilities.

Android SSL bypass also can take place, here is another example: TrustManager[] trustAllCerts = new TrustManager[] { new X509TrustManager() {@Overridepublic X509Certificate[] getAcceptedIssuers() {return new java.security.cert.X509Certificate[] {};}@Overridepublic void checkClientTrusted(X509Certificate[] chain, String authType)throws CertificateException {}@Overridepublic void checkServerTrusted(X509Certificate[] chain, String authType)throws CertificateException {}}};// SSLContext contextcontext.init(null, trustAllCerts, new SecureRandom());As you can see from the above code snippet, it will accept any certificate by overwriting the functions `checkClientTrusted`, `checkServerTrusted`, and `getAcceptedIssuers`. This type of coding mistake, to handle errors can also lead to serious security flaws and consequences.
Trending: Common and Uncommon types of SQL Injection Username enumeration through inconsistent error-based messagesSometimes, some developers tend to return detailed error messages to a user on login pages.

Here is a known example showing an error when a user attempts to log in with a username that does not exist in its database:

`Username does not exist`

This gives an attacker a hint that the specific username entered, does not exist, it is communicating with the backend’s database to fetch this error message.

The same concept applies if a user enters a valid username, but an incorrect password and the following error message is displayed:

`Password is incorrect`

These types of detailed error messages are great feedback for username enumeration-based attacks such as Fuzzing and Brute-Forcing using these errors in the process.

Another type of error that is commonly seen in features such as `Forgot Password`.

When you use [...]
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following link shows a full list of CVEs registered against this version: https://www.cvedetails.com/vulnerability-list/vendor_id-45/product_id-887/version_id-199716/Apache-Tomcat-7.0.68.html As you can see, among the vulnerabilities listed in the link provided…
this feature, it allows you to input your email id so it can send you a password reset link, using the message below:

`A New Password has been sent to your registered email id`

However, when an email ID does not exist in the system’s database, it could show the following error:

`Account or Email not found`

Again, such a detailed error message often allows an attacker to enumerate email addresses.

Ideally, a generic error message should be shown when there is a failed attempt to log in and reset emails and passwords, so it will not give more details to an attacker. ConclusionOften times you will encounter these types of errors as you perform your assessments or bug bounty recon, either through browsing directly the website or when you perform URL gathering and screenshotting. And now that you have seen what each one means, you will interpret these errors based on follow-up, to see if you can exploit them and earn your bounty.

Knowing how to exploit improper error handling vulnerabilities, and also how to use such vulnerabilities to perform even more advanced attacks, can increase your arsenal of attacks and help you test a web app more effectively using various methods of attack.
See Also: Hacking Stories: When two young hackers played war games with Pentagon References:

⦿ owasp.org/www-community/Improper_Error_Handling

⦿ nakedsecurity.sophos.com/2014/02/24/anatomy-of-a-goto-fail-apples-ssl-bug-explained-plus-an-unofficial-patch/

⦿ mobile-security.gitbook.io/mobile-security-testing-guide/android-testing-guide/0x05g-testing-network-communication
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Kam1n0 v2.x is a scalable assembly management and analysis platform. It allows a user to first index a (large) collection of binaries into different repositories and provide different analytic services such as clone search and classification. It supports multi-tenancy access and management of assembly repositories by using the concept of Application. An application instance contains its own exclusive repository and provides a specialized analytic service. Considering the versatility of reverse engineering (https://www.kitploit.com/search/label/Reverse%20Engineering) tasks, Kam1n0 v2.x server currently provides three different types of clone-search applications: Asm-Clone, Sym1n0, and Asm2Vec, and an executable classification based on Asm2Vec. New application type can be further added to the platform.
A user can create multiple application instances. An application instance can be shared among a specific group of users. The application repository read-write access and on-off status can be controlled by the application owner. Kam1n0 v2.x server can serve the applications concurrently using several shared resource pools.Kam1n0 was developed by Steven H. H. Ding (http://stevending.net/) and Miles Q. Li (http://milesqli.github.io/) under the supervision of Benjamin C. M. Fung (http://dmas.lab.mcgill.ca/fung/) of the Data Mining and Security Lab (http://dmas.lab.mcgill.ca/) at McGill University in Canada. It won the second prize at the Hex-Rays Plug-In Contest 2015 (https://hex-rays.com/contests/2015/). If you find Kam1n0 useful, please cite our paper:S. H. H. Ding, B. C. M. Fung, and P. Charland. Kam1n0: MapReduce-based Assembly Clone Search for Reverse Engineering (https://drive.google.com/file/d/0BzRSjM7kjy-rZWUtRnFXR0ZpSjg/view?usp=sharing). In Proceedings of the 22nd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining (SIGKDD), pages 461-470, San Francisco, CA: ACM Press, August 2016.S. H. H. Ding, B. C. M. Fung, and P. Charland. Asm2Vec: boosting static representation robustness for binary clone search against code obfuscation and compiler optimization. In Proceedings of the 40th IEEE Symposium on Security and Privacy (S&P), 18 pages, San Francisco, CA: IEEE Computer Society, May 2019.Asm-CloneAsm-Clone applications try to solve the efficient subgraph search problem (i.e. graph isomorphism problem) for assembly functions (Application Type: Asm-CloneThe original clone search service used in Kam1n0 v1.x.Currently support Meta-PC, ARM, PowerPC, and TMS320c6 (experimental).Support subgraph clone search within a certain assembly code family. + Good interpretability of the result: breaks down to subgraphs.+ Accurate for searching within the given code family.+ Good for differing various patches or versions for big binaries.- Relatively more sensitive to instruction set changes, optimizations, and obfuscation.- Need to pre-define the syntax of the assembly code language.- Need to have assembly code of the same chosen family in the repository.

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