Computational Graph
Analysis Results
- Lines of code: 1036
- Nodes: 7
- Topics: 51, 3 of which are system-related
- Services: 49, 49 of which are system-related
- Actions: 0
- Publishers: 59, 21 of which are system-related
- Subscriptions: 42, 7 of which are system-related
- Service Servers: 49, 49 of which are system-related
- Service Clients: 0
- Action Servers: 0
- Action Clients: 0
Nodes
/marv_power_management
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/parameter_events | rcl_interfaces/msg/ParameterEvent | YES | INTERNAL |
Subscriptions:
| Topic Name | Message Type | System | Callback Function | Location |
|---|---|---|---|---|
| rt/marv/sys/ctrl/acu_power | std_msgs.msg.Int8 | self::ROS_power_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_power_management.py':45:114 | |
| ros_discovery_info | rmw_dds_common/msg/ParticipantEntitiesInfo | YES | INTERNAL |
Service Servers:
| Service Name | Service Type | System | Location |
|---|---|---|---|
| /marv_power_management/describe_parameters | rcl_interfaces/srv/DescribeParameters | YES | INTERNAL |
| /marv_power_management/set_parameters | rcl_interfaces/srv/SetParameters | YES | INTERNAL |
| /marv_power_management/list_parameters | rcl_interfaces/srv/ListParameters | YES | INTERNAL |
| /marv_power_management/get_parameters | rcl_interfaces/srv/GetParameters | YES | INTERNAL |
| /marv_power_management/set_parameters_atomically | rcl_interfaces/srv/SetParametersAtomically | YES | INTERNAL |
| /marv_power_management/get_parameter_types | rcl_interfaces/srv/GetParameterTypes | YES | INTERNAL |
| /marv_power_management/get_type_description | type_description_interfaces/srv/GetTypeDescription | 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="/marv_power_management">
<profiles>
<profile ns="/" node="marv_power_management">
<topics publish="ALLOW">
<topic>/rosout</topic>
<topic>/parameter_events</topic>
</topics>
<topics subscribe="ALLOW">
<topic>/marv/sys/ctrl/acu_power</topic>
</topics>
<services reply="ALLOW">
<service>/marv_power_management/describe_parameters</service>
<service>/marv_power_management/set_parameters</service>
<service>/marv_power_management/list_parameters</service>
<service>/marv_power_management/get_parameters</service>
<service>/marv_power_management/set_parameters_atomically</service>
<service>/marv_power_management/get_parameter_types</service>
<service>/marv_power_management/get_type_description</service>
</services>
</profile>
</profiles>
</enclave>
</enclaves>
</policy>
/marv_sbg_interface
Publishers:
| Topic Name | Message Type | System | Location |
|---|---|---|---|
| rt/marv/nav/sbg_pose | geometry_msgs.msg.PoseWithCovariance | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':104:106 | |
| rt/marv/nav/sbg_gps_pos_reliable_state | std_msgs.msg.Bool | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':114:128 | |
| rt/marv/nav/sbg_current_pos | geometry_msgs.msg.Vector3 | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':118:109 | |
| rt/marv/nav/sbg_angular_velocity | geometry_msgs.msg.Vector3 | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':126:119 | |
| rt/marv/nav/sbg_velocity_magnitude | std_msgs.msg.Float32 | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':120:123 | |
| rt/rosout | rcl_interfaces/msg/ParameterEvent | YES | INTERNAL |
| rt/marv/nav/sys_time | std_msgs.msg.UInt64 | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':106:94 | |
| rt/parameter_events | rcl_interfaces/msg/ParameterEvent | YES | INTERNAL |
| rt/marv/nav/sbg_acceleration | geometry_msgs.msg.Vector3 | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':124:111 | |
| rt/marv/nav/sbg_ins_status | std_msgs.msg.Int8 | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':128:104 | |
| rt/marv/nav/sbg_ref_pos_state | std_msgs.msg.Bool | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':110:110 | |
| rt/marv/nav/sbg_ekf_status | std_msgs.msg.Int8 | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':116:104 | |
| rt/marv/nav/sbg_velocity | geometry_msgs.msg.Vector3 | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':122:103 | |
| rt/marv/nav/sbg_time_synced_state | std_msgs.msg.Bool | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':112:118 | |
| ros_discovery_info | rmw_dds_common/msg/ParticipantEntitiesInfo | YES | INTERNAL |
| rt/marv/nav/sbg_time | std_msgs.msg.UInt64 | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':108:94 |
Subscriptions:
| Topic Name | Message Type | System | Callback Function | Location |
|---|---|---|---|---|
| rt/sbg/ekf_nav | sbg_driver.msg.SbgEkfNav | self::SbgEkfNav_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':96:107 | |
| rt/sbg/ekf_quat | sbg_driver.msg.SbgEkfQuat | self::SbgEkfQuat_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':94:110 | |
| rt/marv/nav/sbg_ref_pos | geometry_msgs.msg.Vector3 | self::MARV_ref_pos_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':100:117 | |
| rt/sbg/utc_time | sbg_driver.msg.SbgUtcTime | self::SbgUtcTime_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':97:110 | |
| rt/sbg/imu_data | sbg_driver.msg.SbgImuData | self::SbgImuData_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':98:110 | |
| ros_discovery_info | rmw_dds_common/msg/ParticipantEntitiesInfo | YES | INTERNAL | |
| rt/sbg/ekf_euler | sbg_driver.msg.SbgEkfEuler | self::SbgEkfEuler_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_sbg_interface.py':95:113 |
Service Servers:
| Service Name | Service Type | System | Location |
|---|---|---|---|
| /marv_sbg_interface/set_parameters | rcl_interfaces/srv/SetParameters | YES | INTERNAL |
| /marv_sbg_interface/get_parameters | rcl_interfaces/srv/GetParameters | YES | INTERNAL |
| /marv_sbg_interface/describe_parameters | rcl_interfaces/srv/DescribeParameters | YES | INTERNAL |
| /marv_sbg_interface/set_parameters_atomically | rcl_interfaces/srv/SetParametersAtomically | YES | INTERNAL |
| /marv_sbg_interface/list_parameters | rcl_interfaces/srv/ListParameters | YES | INTERNAL |
| /marv_sbg_interface/get_type_description | type_description_interfaces/srv/GetTypeDescription | YES | INTERNAL |
| /marv_sbg_interface/get_parameter_types | rcl_interfaces/srv/GetParameterTypes | 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="/marv_sbg_interface">
<profiles>
<profile ns="/" node="marv_sbg_interface">
<topics publish="ALLOW">
<topic>/marv/nav/sbg_pose</topic>
<topic>/marv/nav/sbg_gps_pos_reliable_state</topic>
<topic>/marv/nav/sbg_current_pos</topic>
<topic>/marv/nav/sbg_angular_velocity</topic>
<topic>/marv/nav/sbg_velocity_magnitude</topic>
<topic>/rosout</topic>
<topic>/marv/nav/sys_time</topic>
<topic>/parameter_events</topic>
<topic>/marv/nav/sbg_acceleration</topic>
<topic>/marv/nav/sbg_ins_status</topic>
<topic>/marv/nav/sbg_ref_pos_state</topic>
<topic>/marv/nav/sbg_ekf_status</topic>
<topic>/marv/nav/sbg_velocity</topic>
<topic>/marv/nav/sbg_time_synced_state</topic>
<topic>/marv/nav/sbg_time</topic>
</topics>
<topics subscribe="ALLOW">
<topic>/sbg/ekf_nav</topic>
<topic>/sbg/ekf_quat</topic>
<topic>/marv/nav/sbg_ref_pos</topic>
<topic>/sbg/utc_time</topic>
<topic>/sbg/imu_data</topic>
<topic>/sbg/ekf_euler</topic>
</topics>
<services reply="ALLOW">
<service>/marv_sbg_interface/set_parameters</service>
<service>/marv_sbg_interface/get_parameters</service>
<service>/marv_sbg_interface/describe_parameters</service>
<service>/marv_sbg_interface/set_parameters_atomically</service>
<service>/marv_sbg_interface/list_parameters</service>
<service>/marv_sbg_interface/get_type_description</service>
<service>/marv_sbg_interface/get_parameter_types</service>
</services>
</profile>
</profiles>
</enclave>
</enclaves>
</policy>
/marv_can_bridge
Publishers:
| Topic Name | Message Type | System | Location |
|---|---|---|---|
| rt/parameter_events | rcl_interfaces/msg/ParameterEvent | YES | INTERNAL |
| rt/marv/sys/status/heartbeat_rcu | marv_msgs.msg.Status | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':91:122 | |
| rt/marv/sys/ctrl/radar_enable | std_msgs.msg.Bool | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':109:109 | |
| rt/marv/sys/status/heartbeat_ocu | marv_msgs.msg.Status | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':99:122 | |
| rt/marv/sys/status/heartbeat_ucu | marv_msgs.msg.Status | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':97:122 | |
| rt/marv/sys/ctrl/reset_scenario_handler | std_msgs.msg.Bool | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':87:129 | |
| rt/marv/sys/log/log1_pdu | marv_msgs.msg.Log1PDU | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':103:103 | |
| rt/marv/sys/log/log2_tcu | marv_msgs.msg.Log2TCU | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':107:103 | |
| rt/marv/sys/ctrl/log_data | std_msgs.msg.Bool | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':79:106 | |
| rt/marv/sys/ctrl/scenario_config_state | std_msgs.msg.Bool | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':81:135 | |
| rt/marv/sys/status/start_scenario | std_msgs.msg.UInt8 | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':85:123 | |
| rt/marv/sys/status/state_12V_auto | std_msgs.msg.Bool | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':83:116 | |
| ros_discovery_info | rmw_dds_common/msg/ParticipantEntitiesInfo | YES | INTERNAL |
| rt/rosout | rcl_interfaces/msg/ParameterEvent | YES | INTERNAL |
| rt/marv/sys/ctrl/acu_power | std_msgs.msg.Int8 | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':77:108 | |
| rt/marv/sys/status/heartbeat_tcu | marv_msgs.msg.Status | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':93:122 | |
| rt/marv/sys/status/heartbeat_ncu | marv_msgs.msg.Status | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':95:122 | |
| rt/marv/sys/log/log1_tcu | marv_msgs.msg.Log1TCU | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':105:103 | |
| rt/marv/sys/log/log1_ncu | marv_msgs.msg.Log1NCU | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':101:103 | |
| rt/marv/sys/status/heartbeat_pdu | marv_msgs.msg.Status | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':89:122 |
Subscriptions:
| Topic Name | Message Type | System | Callback Function | Location |
|---|---|---|---|---|
| rt/marv/sys/status/radar_state | std_msgs.msg.Int8 | self::radarState_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':73:119 | |
| ros_discovery_info | rmw_dds_common/msg/ParticipantEntitiesInfo | YES | INTERNAL | |
| rt/marv/sys/ctrl/scenario_config | marv_msgs.msg.ScenarioConfig | self::scenarioConfig_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':67:136 | |
| rt/marv/nav/sbg_ekf_status | std_msgs.msg.Int8 | self::sbg_ekf_status_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':71:119 | |
| rt/marv/sys/ctrl/sound_buzzer | std_msgs.msg.Int8 | self::soundBuzzerACU_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':63:122 | |
| rt/marv/sys/status/logging_state | std_msgs.msg.Bool | self::loggingState_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':65:123 | |
| rt/marv/sys/status/logging_marker | std_msgs.msg.Int8 | self::loggingMarker_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':66:125 | |
| rt/marv/sys/ctrl/formatted_notification_message | marv_msgs.msg.Notification | self::notification_message_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':69:154 | |
| rt/marv/sys/ctrl/cmd_steering | marv_msgs.msg.CmdSteering | self::cmdSteeringACU_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':64:129 | |
| rt/marv/sys/ctrl/scenario_state | std_msgs.msg.Int8 | self::stateScenario_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':62:123 | |
| rt/marv/nav/sbg_ins_status | std_msgs.msg.Int8 | self::sbg_ins_status_callabck | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':72:119 | |
| rt/marv/sys/ctrl/scenario_sys_time | std_msgs.msg.UInt64 | self::scenarioSysTime_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':68:129 | |
| rt/marv/sys/status/heartbeat_acu | marv_msgs.msg.Status | self::heartbeatACU_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_can_bridge.py':70:125 |
Service Servers:
| Service Name | Service Type | System | Location |
|---|---|---|---|
| /marv_can_bridge/set_parameters | rcl_interfaces/srv/SetParameters | YES | INTERNAL |
| /marv_can_bridge/get_type_description | type_description_interfaces/srv/GetTypeDescription | YES | INTERNAL |
| /marv_can_bridge/describe_parameters | rcl_interfaces/srv/DescribeParameters | YES | INTERNAL |
| /marv_can_bridge/list_parameters | rcl_interfaces/srv/ListParameters | YES | INTERNAL |
| /marv_can_bridge/get_parameters | rcl_interfaces/srv/GetParameters | YES | INTERNAL |
| /marv_can_bridge/set_parameters_atomically | rcl_interfaces/srv/SetParametersAtomically | YES | INTERNAL |
| /marv_can_bridge/get_parameter_types | rcl_interfaces/srv/GetParameterTypes | 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="/marv_can_bridge">
<profiles>
<profile ns="/" node="marv_can_bridge">
<topics publish="ALLOW">
<topic>/parameter_events</topic>
<topic>/marv/sys/status/heartbeat_rcu</topic>
<topic>/marv/sys/ctrl/radar_enable</topic>
<topic>/marv/sys/status/heartbeat_ocu</topic>
<topic>/marv/sys/status/heartbeat_ucu</topic>
<topic>/marv/sys/ctrl/reset_scenario_handler</topic>
<topic>/marv/sys/log/log1_pdu</topic>
<topic>/marv/sys/log/log2_tcu</topic>
<topic>/marv/sys/ctrl/log_data</topic>
<topic>/marv/sys/ctrl/scenario_config_state</topic>
<topic>/marv/sys/status/start_scenario</topic>
<topic>/marv/sys/status/state_12V_auto</topic>
<topic>/rosout</topic>
<topic>/marv/sys/ctrl/acu_power</topic>
<topic>/marv/sys/status/heartbeat_tcu</topic>
<topic>/marv/sys/status/heartbeat_ncu</topic>
<topic>/marv/sys/log/log1_tcu</topic>
<topic>/marv/sys/log/log1_ncu</topic>
<topic>/marv/sys/status/heartbeat_pdu</topic>
</topics>
<topics subscribe="ALLOW">
<topic>/marv/sys/status/radar_state</topic>
<topic>/marv/sys/ctrl/scenario_config</topic>
<topic>/marv/nav/sbg_ekf_status</topic>
<topic>/marv/sys/ctrl/sound_buzzer</topic>
<topic>/marv/sys/status/logging_state</topic>
<topic>/marv/sys/status/logging_marker</topic>
<topic>/marv/sys/ctrl/formatted_notification_message</topic>
<topic>/marv/sys/ctrl/cmd_steering</topic>
<topic>/marv/sys/ctrl/scenario_state</topic>
<topic>/marv/nav/sbg_ins_status</topic>
<topic>/marv/sys/ctrl/scenario_sys_time</topic>
<topic>/marv/sys/status/heartbeat_acu</topic>
</topics>
<services reply="ALLOW">
<service>/marv_can_bridge/set_parameters</service>
<service>/marv_can_bridge/get_type_description</service>
<service>/marv_can_bridge/describe_parameters</service>
<service>/marv_can_bridge/list_parameters</service>
<service>/marv_can_bridge/get_parameters</service>
<service>/marv_can_bridge/set_parameters_atomically</service>
<service>/marv_can_bridge/get_parameter_types</service>
</services>
</profile>
</profiles>
</enclave>
</enclaves>
</policy>
/marv_logger
Publishers:
| Topic Name | Message Type | System | Location |
|---|---|---|---|
| rt/marv/sys/status/logging_state | std_msgs.msg.Bool | 'analysis/ros-sources/1710347629/marv_driver_marv_logger.py':46:120 | |
| rt/rosout | rcl_interfaces/msg/ParameterEvent | YES | INTERNAL |
| rt/marv/sys/status/logging_marker | std_msgs.msg.Int8 | 'analysis/ros-sources/1710347629/marv_driver_marv_logger.py':48:122 | |
| ros_discovery_info | rmw_dds_common/msg/ParticipantEntitiesInfo | YES | INTERNAL |
| rt/parameter_events | rcl_interfaces/msg/ParameterEvent | YES | INTERNAL |
Subscriptions:
| Topic Name | Message Type | System | Callback Function | Location |
|---|---|---|---|---|
| rt/marv/sys/ctrl/log_data | std_msgs.msg.Bool | self::MARV_sys_logger_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_logger.py':42:119 | |
| ros_discovery_info | rmw_dds_common/msg/ParticipantEntitiesInfo | YES | INTERNAL |
Service Servers:
| Service Name | Service Type | System | Location |
|---|---|---|---|
| /marv_logger/set_parameters_atomically | rcl_interfaces/srv/SetParametersAtomically | YES | INTERNAL |
| /marv_logger/get_parameter_types | rcl_interfaces/srv/GetParameterTypes | YES | INTERNAL |
| /marv_logger/describe_parameters | rcl_interfaces/srv/DescribeParameters | YES | INTERNAL |
| /marv_logger/list_parameters | rcl_interfaces/srv/ListParameters | YES | INTERNAL |
| /marv_logger/set_parameters | rcl_interfaces/srv/SetParameters | YES | INTERNAL |
| /marv_logger/get_parameters | rcl_interfaces/srv/GetParameters | YES | INTERNAL |
| /marv_logger/get_type_description | type_description_interfaces/srv/GetTypeDescription | 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="/marv_logger">
<profiles>
<profile ns="/" node="marv_logger">
<topics publish="ALLOW">
<topic>/marv/sys/status/logging_state</topic>
<topic>/rosout</topic>
<topic>/marv/sys/status/logging_marker</topic>
<topic>/parameter_events</topic>
</topics>
<topics subscribe="ALLOW">
<topic>/marv/sys/ctrl/log_data</topic>
</topics>
<services reply="ALLOW">
<service>/marv_logger/set_parameters_atomically</service>
<service>/marv_logger/get_parameter_types</service>
<service>/marv_logger/describe_parameters</service>
<service>/marv_logger/list_parameters</service>
<service>/marv_logger/set_parameters</service>
<service>/marv_logger/get_parameters</service>
<service>/marv_logger/get_type_description</service>
</services>
</profile>
</profiles>
</enclave>
</enclaves>
</policy>
/marv_status_sender
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/parameter_events | rcl_interfaces/msg/ParameterEvent | YES | INTERNAL |
Subscriptions:
| Topic Name | Message Type | System | Callback Function | Location |
|---|---|---|---|---|
| rt/marv/sys/log/log1_ncu | marv_msgs.msg.Log1NCU | self::MARV_sys_log_1NCU_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_status_sender.py':120:123 | |
| rt/marv/nav/sbg_ekf_status | std_msgs.msg.Int8 | self::MARV_sbg_ekf_status_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_status_sender.py':108:124 | |
| rt/marv/nav/sbg_pose | geometry_msgs.msg.PoseWithCovariance | self::MARV_sbg_pose_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_status_sender.py':106:126 | |
| rt/sbg/ekf_nav | sbg_driver.msg.SbgEkfNav | self::SbgEkfNav_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_status_sender.py':126:107 | |
| rt/marv/nav/sys_time | std_msgs.msg.UInt64 | self::MARV_sys_time_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_status_sender.py':112:114 | |
| rt/marv/nav/sbg_velocity_magnitude | std_msgs.msg.Float32 | self::MARV_sbg_current_vel_mag_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_status_sender.py':118:140 | |
| rt/marv/nav/sbg_time | std_msgs.msg.UInt64 | self::MARV_sbg_time_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_status_sender.py':110:114 | |
| rt/marv/nav/sbg_ref_pos | geometry_msgs.msg.Vector3 | self::MARV_sbg_ref_pos_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_status_sender.py':114:121 | |
| rt/marv/nav/sbg_current_pos | geometry_msgs.msg.Vector3 | self::MARV_sbg_current_pos_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_status_sender.py':116:129 | |
| rt/marv/sys/log/log1_tcu | marv_msgs.msg.Log1TCU | self::MARV_sys_log_1TCU_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_status_sender.py':122:123 | |
| rt/marv/sys/ctrl/scenario_state | std_msgs.msg.Int8 | self::MARV_sys_ctrl_scenario_state_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_status_sender.py':128:138 | |
| rt/marv/sys/status/mode | std_msgs.msg.Int8 | self::MARV_sys_status_mode_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_status_sender.py':124:122 | |
| ros_discovery_info | rmw_dds_common/msg/ParticipantEntitiesInfo | YES | INTERNAL |
Service Servers:
| Service Name | Service Type | System | Location |
|---|---|---|---|
| /marv_status_sender/list_parameters | rcl_interfaces/srv/ListParameters | YES | INTERNAL |
| /marv_status_sender/get_type_description | type_description_interfaces/srv/GetTypeDescription | YES | INTERNAL |
| /marv_status_sender/describe_parameters | rcl_interfaces/srv/DescribeParameters | YES | INTERNAL |
| /marv_status_sender/get_parameter_types | rcl_interfaces/srv/GetParameterTypes | YES | INTERNAL |
| /marv_status_sender/set_parameters | rcl_interfaces/srv/SetParameters | YES | INTERNAL |
| /marv_status_sender/set_parameters_atomically | rcl_interfaces/srv/SetParametersAtomically | YES | INTERNAL |
| /marv_status_sender/get_parameters | rcl_interfaces/srv/GetParameters | 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="/marv_status_sender">
<profiles>
<profile ns="/" node="marv_status_sender">
<topics publish="ALLOW">
<topic>/rosout</topic>
<topic>/parameter_events</topic>
</topics>
<topics subscribe="ALLOW">
<topic>/marv/sys/log/log1_ncu</topic>
<topic>/marv/nav/sbg_ekf_status</topic>
<topic>/marv/nav/sbg_pose</topic>
<topic>/sbg/ekf_nav</topic>
<topic>/marv/nav/sys_time</topic>
<topic>/marv/nav/sbg_velocity_magnitude</topic>
<topic>/marv/nav/sbg_time</topic>
<topic>/marv/nav/sbg_ref_pos</topic>
<topic>/marv/nav/sbg_current_pos</topic>
<topic>/marv/sys/log/log1_tcu</topic>
<topic>/marv/sys/ctrl/scenario_state</topic>
<topic>/marv/sys/status/mode</topic>
</topics>
<services reply="ALLOW">
<service>/marv_status_sender/list_parameters</service>
<service>/marv_status_sender/get_type_description</service>
<service>/marv_status_sender/describe_parameters</service>
<service>/marv_status_sender/get_parameter_types</service>
<service>/marv_status_sender/set_parameters</service>
<service>/marv_status_sender/set_parameters_atomically</service>
<service>/marv_status_sender/get_parameters</service>
</services>
</profile>
</profiles>
</enclave>
</enclaves>
</policy>
/marv_heartbeat_acu
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/parameter_events | rcl_interfaces/msg/ParameterEvent | YES | INTERNAL |
| rt/marv/sys/status/heartbeat_acu | marv_msgs.msg.Status | 'analysis/ros-sources/1710347629/marv_driver_marv_heartbeat_acu.py':53:115 |
Subscriptions:
| Topic Name | Message Type | System | Callback Function | Location |
|---|---|---|---|---|
| rt/marv/sys/ctrl/heartbeat_acu_state | marv_msgs.msg.Status | self::update_acu_heatbeat_state_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_heartbeat_acu.py':49:142 | |
| ros_discovery_info | rmw_dds_common/msg/ParticipantEntitiesInfo | YES | INTERNAL |
Service Servers:
| Service Name | Service Type | System | Location |
|---|---|---|---|
| /marv_heartbeat_acu/list_parameters | rcl_interfaces/srv/ListParameters | YES | INTERNAL |
| /marv_heartbeat_acu/get_type_description | type_description_interfaces/srv/GetTypeDescription | YES | INTERNAL |
| /marv_heartbeat_acu/describe_parameters | rcl_interfaces/srv/DescribeParameters | YES | INTERNAL |
| /marv_heartbeat_acu/get_parameter_types | rcl_interfaces/srv/GetParameterTypes | YES | INTERNAL |
| /marv_heartbeat_acu/set_parameters_atomically | rcl_interfaces/srv/SetParametersAtomically | YES | INTERNAL |
| /marv_heartbeat_acu/get_parameters | rcl_interfaces/srv/GetParameters | YES | INTERNAL |
| /marv_heartbeat_acu/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="/marv_heartbeat_acu">
<profiles>
<profile ns="/" node="marv_heartbeat_acu">
<topics publish="ALLOW">
<topic>/rosout</topic>
<topic>/parameter_events</topic>
<topic>/marv/sys/status/heartbeat_acu</topic>
</topics>
<topics subscribe="ALLOW">
<topic>/marv/sys/ctrl/heartbeat_acu_state</topic>
</topics>
<services reply="ALLOW">
<service>/marv_heartbeat_acu/list_parameters</service>
<service>/marv_heartbeat_acu/get_type_description</service>
<service>/marv_heartbeat_acu/describe_parameters</service>
<service>/marv_heartbeat_acu/get_parameter_types</service>
<service>/marv_heartbeat_acu/set_parameters_atomically</service>
<service>/marv_heartbeat_acu/get_parameters</service>
<service>/marv_heartbeat_acu/set_parameters</service>
</services>
</profile>
</profiles>
</enclave>
</enclaves>
</policy>
/marv_scenario_starter
Publishers:
| Topic Name | Message Type | System | Location |
|---|---|---|---|
| rt/parameter_events | rcl_interfaces/msg/ParameterEvent | YES | INTERNAL |
| rt/marv/sys/status/heartbeat_pdu | marv_msgs.msg.Status | 'analysis/ros-sources/1710347629/marv_driver_marv_scenario_starter.py':66:122 | |
| rt/rosout | rcl_interfaces/msg/ParameterEvent | YES | INTERNAL |
| rt/marv/sys/status/state_12V_auto | std_msgs.msg.Bool | 'analysis/ros-sources/1710347629/marv_driver_marv_scenario_starter.py':59:116 | |
| rt/marv/sys/status/start_scenario | std_msgs.msg.UInt8 | 'analysis/ros-sources/1710347629/marv_driver_marv_scenario_starter.py':61:123 | |
| rt/marv/sys/status/heartbeat_tcu | marv_msgs.msg.Status | 'analysis/ros-sources/1710347629/marv_driver_marv_scenario_starter.py':64:122 | |
| rt/marv/sys/status/heartbeat_ncu | marv_msgs.msg.Status | 'analysis/ros-sources/1710347629/marv_driver_marv_scenario_starter.py':68:122 | |
| ros_discovery_info | rmw_dds_common/msg/ParticipantEntitiesInfo | YES | INTERNAL |
Subscriptions:
| Topic Name | Message Type | System | Callback Function | Location |
|---|---|---|---|---|
| rt/marv/sys/ctrl/formatted_notification_message | marv_msgs.msg.Notification | self::notification_message_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_scenario_starter.py':71:154 | |
| rt/marv/sys/ctrl/scenario_state | std_msgs.msg.Int8 | self::scenario_handler_state_callback | 'analysis/ros-sources/1710347629/marv_driver_marv_scenario_starter.py':73:132 | |
| ros_discovery_info | rmw_dds_common/msg/ParticipantEntitiesInfo | YES | INTERNAL |
Service Servers:
| Service Name | Service Type | System | Location |
|---|---|---|---|
| /marv_scenario_starter/get_parameters | rcl_interfaces/srv/GetParameters | YES | INTERNAL |
| /marv_scenario_starter/set_parameters | rcl_interfaces/srv/SetParameters | YES | INTERNAL |
| /marv_scenario_starter/describe_parameters | rcl_interfaces/srv/DescribeParameters | YES | INTERNAL |
| /marv_scenario_starter/list_parameters | rcl_interfaces/srv/ListParameters | YES | INTERNAL |
| /marv_scenario_starter/get_type_description | type_description_interfaces/srv/GetTypeDescription | YES | INTERNAL |
| /marv_scenario_starter/get_parameter_types | rcl_interfaces/srv/GetParameterTypes | YES | INTERNAL |
| /marv_scenario_starter/set_parameters_atomically | rcl_interfaces/srv/SetParametersAtomically | 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="/marv_scenario_starter">
<profiles>
<profile ns="/" node="marv_scenario_starter">
<topics publish="ALLOW">
<topic>/parameter_events</topic>
<topic>/marv/sys/status/heartbeat_pdu</topic>
<topic>/rosout</topic>
<topic>/marv/sys/status/state_12V_auto</topic>
<topic>/marv/sys/status/start_scenario</topic>
<topic>/marv/sys/status/heartbeat_tcu</topic>
<topic>/marv/sys/status/heartbeat_ncu</topic>
</topics>
<topics subscribe="ALLOW">
<topic>/marv/sys/ctrl/formatted_notification_message</topic>
<topic>/marv/sys/ctrl/scenario_state</topic>
</topics>
<services reply="ALLOW">
<service>/marv_scenario_starter/get_parameters</service>
<service>/marv_scenario_starter/set_parameters</service>
<service>/marv_scenario_starter/describe_parameters</service>
<service>/marv_scenario_starter/list_parameters</service>
<service>/marv_scenario_starter/get_type_description</service>
<service>/marv_scenario_starter/get_parameter_types</service>
<service>/marv_scenario_starter/set_parameters_atomically</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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