Last line

Signed-off-by: susanachl <susanachavez8@hotmail.com>

Author: susanachl

.github/workflows/ros_ci.yml

@@ -38,4 +38,4 @@ jobs:
           "
 
 volumes:
-  keystore_ci:
+  keystore_ci:

dicom_to_ros/dicom_to_ros/security/generate_keystore.sh

@@ -1,7 +1,6 @@
 #!/bin/bash
 set -e
 
-# Get the directory where this script is located to find permissions.xml
 SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 
 # This script generates the ROS 2 security keystore and keys for all nodes
@@ -43,9 +42,6 @@ fi
 
 echo "Empty keystore volume detected. Generating fresh security artifacts..."
 
-# WORKAROUND: `create_keystore` requires the target directory to not exist,
-# but we can't remove the volume mount point. So, we create it in a temporary
-# location and then move the contents into the empty volume.
 TMP_KEYSTORE_DIR=$(mktemp -d)
 ros2 security create_keystore "$TMP_KEYSTORE_DIR"
 
@@ -55,22 +51,12 @@ rm -rf "$TMP_KEYSTORE_DIR"
 
 ENCLAVE_NAME="/dicom_to_ros"
 
-# The `create_enclave` command in Jazzy is designed to create the enclave
-# and all node keys defined in the policy file in a single step.
-# In ROS 2 Jazzy, the `create_enclave` command is intended to generate all
-# keys and permissions from a policy file in a single step.
 echo "Creating enclave and generating keys for all nodes from policy file..."
 
-# The 'create_enclave' command and its arguments have changed in recent ROS 2 versions.
-# The modern approach is to create keys for each node individually and then
-# create the signed permissions file for the enclave.
-echo "Creating enclave and generating keys for all nodes from policy file..."
-# The modern `create_enclave` command handles generating all necessary keys and certificates.
 ros2 security create_enclave "$KEYSTORE_DIR" "$ENCLAVE_NAME"
 
-# The `create_permission` command then signs the policy file using the generated enclave certificate.
 echo "Creating signed permissions for enclave: $ENCLAVE_NAME"
 ros2 security create_permission "$KEYSTORE_DIR" "$ENCLAVE_NAME" "$SCRIPT_DIR/permissions.xml"
 
 # Store a checksum of the policy file to detect future changes.
-md5sum "$POLICY_FILE" > "$CHECKSUM_FILE"
+md5sum "$POLICY_FILE" > "$CHECKSUM_FILE"

dicom_to_ros/dicom_to_ros/security/permissions.xml

@@ -152,4 +152,4 @@
 
         </enclave>
     </enclaves>
-</policy>
+</policy>

dicom_to_ros_demo/docker/docker-compose.yml

@@ -53,4 +53,4 @@ services:
 volumes:
   docker_keystore:
     external: true
-    name: docker_keystore
+    name: docker_keystore

docker/entrypoint.sh

@@ -40,4 +40,4 @@ fi
 
 # Launch the application
 echo "[Step 4/4] Launching the DICOM to ROS pipeline..."
-exec ros2 launch dicom_to_ros dicom_nodes.launch.py
+exec ros2 launch dicom_to_ros dicom_nodes.launch.py