LiSA | ROS Application Report

Computational Graph

Analysis Results

Lines of code: 511
Nodes: 5
Topics: 13, 3 of which are system-related
Services: 37, 35 of which are system-related
Actions: 1
Publishers: 25, 15 of which are system-related
Subscriptions: 9, 5 of which are system-related
Service Servers: 38, 35 of which are system-related
Service Clients: 0
Action Servers: 0
Action Clients: 1

Nodes

/mujoco_writer

Publishers:

Topic Name	Message Type	System	Location
rt/mujoco_input	mujoco_interfaces.msg.MujocoInput		'analysis/ros-sources/1710332390/mujoco_writer_mujoco_writer_node.py':26:78
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/mujoco_reset_trajectory	std_msgs.msg.Bool		self::reset_callback	'analysis/ros-sources/1710332390/mujoco_writer_mujoco_writer_node.py':32:8
rt/joint_trajectory_controller/state	control_msgs.msg.JointTrajectoryControllerState		self::listener_callback	'analysis/ros-sources/1710332390/mujoco_writer_mujoco_writer_node.py':27:8
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

Service Name	Service Type	System	Location
/mujoco_writer/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/mujoco_writer/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/mujoco_writer/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/mujoco_writer/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/mujoco_writer/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/mujoco_writer/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/mujoco_writer/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="/mujoco_writer">
            <profiles>
                <profile ns="/" node="mujoco_writer">
                    <topics publish="ALLOW">
                        <topic>/mujoco_input</topic>
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/mujoco_reset_trajectory</topic>
                        <topic>/joint_trajectory_controller/state</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/mujoco_writer/describe_parameters</service>
                        <service>/mujoco_writer/list_parameters</service>
                        <service>/mujoco_writer/get_type_description</service>
                        <service>/mujoco_writer/get_parameters</service>
                        <service>/mujoco_writer/get_parameter_types</service>
                        <service>/mujoco_writer/set_parameters</service>
                        <service>/mujoco_writer/set_parameters_atomically</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/mujoco_sim

Publishers:

Topic Name	Message Type	System	Location
rt/parameter_events	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/mujoco_sensor_output	mujoco_interfaces.msg.MujocoDataSensing		'analysis/ros-sources/1710332390/mujoco_sim_mujoco_sim_node.py':261:87
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
rt/mujoco_input	mujoco_interfaces.msg.MujocoInput		self::writer_callback	'analysis/ros-sources/1710332390/mujoco_sim_mujoco_sim_node.py':94:111

Service Servers:

Service Name	Service Type	System	Location
/mujoco_sim/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/mujoco_sim/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/mujoco_sim/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/mujoco_sim/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/mujoco_sim/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/mujoco_sim/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/mujoco_sim/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="/mujoco_sim">
            <profiles>
                <profile ns="/" node="mujoco_sim">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/mujoco_sensor_output</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/mujoco_input</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/mujoco_sim/list_parameters</service>
                        <service>/mujoco_sim/describe_parameters</service>
                        <service>/mujoco_sim/set_parameters_atomically</service>
                        <service>/mujoco_sim/get_type_description</service>
                        <service>/mujoco_sim/set_parameters</service>
                        <service>/mujoco_sim/get_parameter_types</service>
                        <service>/mujoco_sim/get_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/gait_selection_node

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/trajectory_reset_gate	std_msgs.msg.Int32		'analysis/ros-sources/1710332390/gait_selection_gait_selection_node.py':39:88
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/joint_trajectory_controller/joint_trajectory	trajectory_msgs.msg.JointTrajectory		'analysis/ros-sources/1710332390/gait_selection_gait_selection_node.py':33:115
rt/mujoco_reset_trajectory	std_msgs.msg.Bool		'analysis/ros-sources/1710332390/gait_selection_gait_selection_node.py':40:93

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
/gait_selection_node/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/gait_selection_node/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/gait_selection_node/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/gait_selection_node/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/gait_selection_node/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/gait_selection_node/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/gait_selection	march_shared_msgs.srv.RequestGait		'analysis/ros-sources/1710332390/gait_selection_gait_selection_node.py':46:95
/gait_selection_node/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL

Service Clients:

No Service Clients on this Node

Action Clients:

Action Name	Action Type	System	Location
/joint_trajectory_controller/follow_joint_trajectory	control_msgs.action.FollowJointTrajectory		'analysis/ros-sources/1710332390/gait_selection_gait_selection_node.py':35:8

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="/gait_selection_node">
            <profiles>
                <profile ns="/" node="gait_selection_node">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/trajectory_reset_gate</topic>
                        <topic>/rosout</topic>
                        <topic>/joint_trajectory_controller/joint_trajectory</topic>
                        <topic>/mujoco_reset_trajectory</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/gait_selection_node/get_parameter_types</service>
                        <service>/gait_selection_node/list_parameters</service>
                        <service>/gait_selection_node/set_parameters_atomically</service>
                        <service>/gait_selection_node/set_parameters</service>
                        <service>/gait_selection_node/get_type_description</service>
                        <service>/gait_selection_node/get_parameters</service>
                        <service>/gait_selection</service>
                        <service>/gait_selection_node/describe_parameters</service>
                    </services>
                    <actions call="ALLOW">
                        <action>/joint_trajectory_controller/follow_joint_trajectory</action>
                    </actions>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/mujoco_reader

Publishers:

Topic Name	Message Type	System	Location
rt/joint_states	sensor_msgs.msg.JointState		'analysis/ros-sources/1710332390/mujoco_reader_mujoco_reader_node.py':34:83
rt/lower_imu	sensor_msgs.msg.Imu		'analysis/ros-sources/1710332390/mujoco_reader_mujoco_reader_node.py':37:80
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/march/pressure_sole_data	march_shared_msgs.msg.PressureSolesData		'analysis/ros-sources/1710332390/mujoco_reader_mujoco_reader_node.py':35:110
rt/upper_imu	sensor_msgs.msg.Imu		'analysis/ros-sources/1710332390/mujoco_reader_mujoco_reader_node.py':36:77
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
rt/mujoco_sensor_output	mujoco_interfaces.msg.MujocoDataSensing		self::sensor_listener_callback	'analysis/ros-sources/1710332390/mujoco_reader_mujoco_reader_node.py':39:8
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

Service Name	Service Type	System	Location
/mujoco_reader/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/mujoco_reader/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/mujoco_reader/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/mujoco_reader/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/mujoco_reader/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/mujoco_reader/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/mujoco_reader/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="/mujoco_reader">
            <profiles>
                <profile ns="/" node="mujoco_reader">
                    <topics publish="ALLOW">
                        <topic>/joint_states</topic>
                        <topic>/lower_imu</topic>
                        <topic>/rosout</topic>
                        <topic>/march/pressure_sole_data</topic>
                        <topic>/upper_imu</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/mujoco_sensor_output</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/mujoco_reader/describe_parameters</service>
                        <service>/mujoco_reader/set_parameters</service>
                        <service>/mujoco_reader/set_parameters_atomically</service>
                        <service>/mujoco_reader/list_parameters</service>
                        <service>/mujoco_reader/get_parameter_types</service>
                        <service>/mujoco_reader/get_parameters</service>
                        <service>/mujoco_reader/get_type_description</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/TestSetupGaitSelectionNode

Publishers:

Topic Name	Message Type	System	Location
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES	INTERNAL
rt/joint_trajectory_controller/joint_trajectory	trajectory_msgs.msg.JointTrajectory		'analysis/ros-sources/1710332390/test_setup_gait_selection_test_setup_gait_selection_node.py':36:115
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
/TestSetupGaitSelectionNode/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/TestSetupGaitSelectionNode/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/gait_selection	march_shared_msgs.srv.RequestGait		'analysis/ros-sources/1710332390/test_setup_gait_selection_test_setup_gait_selection_node.py':38:105
/TestSetupGaitSelectionNode/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/TestSetupGaitSelectionNode/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/footstep_generator	march_shared_msgs.srv.RequestFootsteps		'analysis/ros-sources/1710332390/test_setup_gait_selection_test_setup_gait_selection_node.py':39:113
/TestSetupGaitSelectionNode/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/TestSetupGaitSelectionNode/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/TestSetupGaitSelectionNode/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="/TestSetupGaitSelectionNode">
            <profiles>
                <profile ns="/" node="TestSetupGaitSelectionNode">
                    <topics publish="ALLOW">
                        <topic>/joint_trajectory_controller/joint_trajectory</topic>
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/TestSetupGaitSelectionNode/get_parameters</service>
                        <service>/TestSetupGaitSelectionNode/set_parameters</service>
                        <service>/gait_selection</service>
                        <service>/TestSetupGaitSelectionNode/list_parameters</service>
                        <service>/TestSetupGaitSelectionNode/get_type_description</service>
                        <service>/footstep_generator</service>
                        <service>/TestSetupGaitSelectionNode/describe_parameters</service>
                        <service>/TestSetupGaitSelectionNode/set_parameters_atomically</service>
                        <service>/TestSetupGaitSelectionNode/get_parameter_types</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

Lisa Analysis