LiSA | ROS Application Report

Computational Graph

Analysis Results

Lines of code: 882
Nodes: 6
Topics: 12, 3 of which are system-related
Services: 53, 42 of which are system-related
Actions: 0
Publishers: 20, 18 of which are system-related
Subscriptions: 15, 6 of which are system-related
Service Servers: 45, 42 of which are system-related
Service Clients: 11
Action Servers: 0
Action Clients: 0

Nodes

/camera_controller

Publishers:

Topic Name	Message Type	System	Location
rt/parameter_events	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES	INTERNAL

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

Service Name	Service Type	System	Location
/drone/picture	drone_services.srv.TakePicture		'analysis/ros-sources/1710345190/camera_camera_controller.py':29:69
/camera_controller/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/camera_controller/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/camera_controller/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/camera_controller/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/camera_controller/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/camera_controller/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/camera_controller/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL

Service Clients:

No Service Clients on this Node

Action Clients:

No Action Clients on this Node

Action Servers:

No Action Servers on this Node

Generated policy.xml

Download

<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<policy version="0.2.0">
    <enclaves>
        <enclave path="/camera_controller">
            <profiles>
                <profile ns="/" node="camera_controller">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/drone/picture</service>
                        <service>/camera_controller/get_parameter_types</service>
                        <service>/camera_controller/get_type_description</service>
                        <service>/camera_controller/list_parameters</service>
                        <service>/camera_controller/set_parameters_atomically</service>
                        <service>/camera_controller/get_parameters</service>
                        <service>/camera_controller/describe_parameters</service>
                        <service>/camera_controller/set_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/api_listener

Publishers:

Topic Name	Message Type	System	Location
rt/parameter_events	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES	INTERNAL
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
rt/drone/status	drone_services.msg.DroneStatus		self::drone_status_callback	'analysis/ros-sources/1710345190/api_communication_api_listener.py':50:124
rt/drone/failsafe	drone_services.msg.FailsafeMsg		self::failsafe_callback	'analysis/ros-sources/1710345190/api_communication_api_listener.py':51:118
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

Service Name	Service Type	System	Location
/api_listener/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/api_listener/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/api_listener/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/api_listener/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/api_listener/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/api_listener/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/api_listener/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL

Service Clients:

Service Name	Service Type	Location
/drone/arm	drone_services.srv.ArmDrone	'analysis/ros-sources/1710345190/api_communication_api_listener.py':67:73
/drone/enable_failsafe	drone_services.srv.EnableFailsafe	'analysis/ros-sources/1710345190/api_communication_api_listener.py':63:97
/drone/ready	drone_services.srv.ReadyDrone	'analysis/ros-sources/1710345190/api_communication_api_listener.py':75:79
/drone/move_position	drone_services.srv.MovePosition	'analysis/ros-sources/1710345190/api_communication_api_listener.py':59:91
/drone/disarm	drone_services.srv.DisarmDrone	'analysis/ros-sources/1710345190/api_communication_api_listener.py':71:82
/drone/picture	drone_services.srv.TakePicture	'analysis/ros-sources/1710345190/api_communication_api_listener.py':55:83
/drone/land	drone_services.srv.Land	'analysis/ros-sources/1710345190/api_communication_api_listener.py':79:65

Action Clients:

No Action Clients on this Node

Action Servers:

No Action Servers on this Node

Generated policy.xml

Download

<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<policy version="0.2.0">
    <enclaves>
        <enclave path="/api_listener">
            <profiles>
                <profile ns="/" node="api_listener">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/drone/status</topic>
                        <topic>/drone/failsafe</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/api_listener/list_parameters</service>
                        <service>/api_listener/set_parameters_atomically</service>
                        <service>/api_listener/get_type_description</service>
                        <service>/api_listener/set_parameters</service>
                        <service>/api_listener/get_parameter_types</service>
                        <service>/api_listener/describe_parameters</service>
                        <service>/api_listener/get_parameters</service>
                    </services>
                    <services request="ALLOW">
                        <service>/drone/arm</service>
                        <service>/drone/enable_failsafe</service>
                        <service>/drone/ready</service>
                        <service>/drone/move_position</service>
                        <service>/drone/disarm</service>
                        <service>/drone/picture</service>
                        <service>/drone/land</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/test_controller

Publishers:

Topic Name	Message Type	System	Location
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES	INTERNAL
rt/parameter_events	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

Service Name	Service Type	System	Location
/test_controller/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/test_controller/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/test_controller/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/test_controller/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/test_controller/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/test_controller/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/test_controller/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL

Service Clients:

Service Name	Service Type	Location
/drone/set_trajectory	drone_services.srv.SetTrajectory	'analysis/ros-sources/1710345190/test_controls_test_controller.py':29:81
/drone/arm	drone_services.srv.ArmDrone	'analysis/ros-sources/1710345190/test_controls_test_controller.py':33:64
/drone/set_attitude	drone_services.srv.SetAttitude	'analysis/ros-sources/1710345190/test_controls_test_controller.py':20:71
/drone/set_vehicle_control	drone_services.srv.SetVehicleControl	'analysis/ros-sources/1710345190/test_controls_test_controller.py':24:59

Action Clients:

No Action Clients on this Node

Action Servers:

No Action Servers on this Node

Generated policy.xml

Download

<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<policy version="0.2.0">
    <enclaves>
        <enclave path="/test_controller">
            <profiles>
                <profile ns="/" node="test_controller">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/test_controller/describe_parameters</service>
                        <service>/test_controller/get_type_description</service>
                        <service>/test_controller/set_parameters</service>
                        <service>/test_controller/get_parameters</service>
                        <service>/test_controller/get_parameter_types</service>
                        <service>/test_controller/list_parameters</service>
                        <service>/test_controller/set_parameters_atomically</service>
                    </services>
                    <services request="ALLOW">
                        <service>/drone/set_trajectory</service>
                        <service>/drone/arm</service>
                        <service>/drone/set_attitude</service>
                        <service>/drone/set_vehicle_control</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/drone_status

Publishers:

Topic Name	Message Type	System	Location
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES	INTERNAL
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/drone/status	drone_services.msg.DroneStatus		'analysis/ros-sources/1710345190/drone_status_drone_status.py':29:44
rt/parameter_events	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
rt/fmu/out/vehicle_odometry	px4_msgs.msg.VehicleOdometry		self::vehicle_odometry_callback	'analysis/ros-sources/1710345190/drone_status_drone_status.py':42:113
rt/fmu/out/battery_status	px4_msgs.msg.BatteryStatus		self::battery_status_callback	'analysis/ros-sources/1710345190/drone_status_drone_status.py':38:107
rt/drone/route_status	drone_services.msg.DroneRouteStatus		self::route_status_callback	'analysis/ros-sources/1710345190/drone_status_drone_status.py':35:83
rt/fmu/out/cpuload	px4_msgs.msg.Cpuload		self::cpu_load_callback	'analysis/ros-sources/1710345190/drone_status_drone_status.py':40:88
rt/drone/arm_status	drone_services.msg.DroneArmStatus		self::arm_status_callback	'analysis/ros-sources/1710345190/drone_status_drone_status.py':33:77
rt/drone/height	drone_services.msg.HeightData		self::height_data_callback	'analysis/ros-sources/1710345190/drone_status_drone_status.py':37:121
rt/drone/control_mode	drone_services.msg.DroneControlMode		self::control_mode_callback	'analysis/ros-sources/1710345190/drone_status_drone_status.py':31:83
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

Service Name	Service Type	System	Location
/drone_status/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/drone_status/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/drone_status/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/drone_status/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/drone_status/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/drone_status/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/drone_status/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL

Service Clients:

No Service Clients on this Node

Action Clients:

No Action Clients on this Node

Action Servers:

No Action Servers on this Node

Generated policy.xml

Download

<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<policy version="0.2.0">
    <enclaves>
        <enclave path="/drone_status">
            <profiles>
                <profile ns="/" node="drone_status">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/drone/status</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/fmu/out/vehicle_odometry</topic>
                        <topic>/fmu/out/battery_status</topic>
                        <topic>/drone/route_status</topic>
                        <topic>/fmu/out/cpuload</topic>
                        <topic>/drone/arm_status</topic>
                        <topic>/drone/height</topic>
                        <topic>/drone/control_mode</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/drone_status/describe_parameters</service>
                        <service>/drone_status/get_parameters</service>
                        <service>/drone_status/get_parameter_types</service>
                        <service>/drone_status/set_parameters_atomically</service>
                        <service>/drone_status/set_parameters</service>
                        <service>/drone_status/get_type_description</service>
                        <service>/drone_status/list_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/failsafe

Publishers:

Topic Name	Message Type	System	Location
rt/drone/failsafe	drone_services.msg.FailsafeMsg		'analysis/ros-sources/1710345190/failsafe_failsafe.py':14:90
rt/parameter_events	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES	INTERNAL
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

Service Name	Service Type	System	Location
/failsafe/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/failsafe/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/failsafe/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/failsafe/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/failsafe/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/failsafe/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/drone/enable_failsafe	drone_services.srv.EnableFailsafe		'analysis/ros-sources/1710345190/failsafe_failsafe.py':12:76
/failsafe/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL

Service Clients:

No Service Clients on this Node

Action Clients:

No Action Clients on this Node

Action Servers:

No Action Servers on this Node

Generated policy.xml

Download

<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<policy version="0.2.0">
    <enclaves>
        <enclave path="/failsafe">
            <profiles>
                <profile ns="/" node="failsafe">
                    <topics publish="ALLOW">
                        <topic>/drone/failsafe</topic>
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/failsafe/get_parameter_types</service>
                        <service>/failsafe/get_type_description</service>
                        <service>/failsafe/get_parameters</service>
                        <service>/failsafe/set_parameters_atomically</service>
                        <service>/failsafe/describe_parameters</service>
                        <service>/failsafe/set_parameters</service>
                        <service>/drone/enable_failsafe</service>
                        <service>/failsafe/list_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/relais_controller

Publishers:

Topic Name	Message Type	System	Location
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/parameter_events	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES	INTERNAL

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

Service Name	Service Type	System	Location
/relais_controller/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/relais_controller/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/relais_controller/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/relais_controller/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/relais_controller/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/drone/control_relais	drone_services.srv.ControlRelais		'analysis/ros-sources/1710345190/relais_control_relais_controller.py':15:107
/relais_controller/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/relais_controller/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL

Service Clients:

No Service Clients on this Node

Action Clients:

No Action Clients on this Node

Action Servers:

No Action Servers on this Node

Generated policy.xml

Download

<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<policy version="0.2.0">
    <enclaves>
        <enclave path="/relais_controller">
            <profiles>
                <profile ns="/" node="relais_controller">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/relais_controller/set_parameters_atomically</service>
                        <service>/relais_controller/get_type_description</service>
                        <service>/relais_controller/describe_parameters</service>
                        <service>/relais_controller/get_parameter_types</service>
                        <service>/relais_controller/set_parameters</service>
                        <service>/drone/control_relais</service>
                        <service>/relais_controller/get_parameters</service>
                        <service>/relais_controller/list_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

Legend:

Node border: gray, single
Entrypoint border: black, single
Exitpoint border: black, double
Sequential edge: black, solid
False edge: red, solid
True edge: blue, solid

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