LiSA | ROS Application Report

Computational Graph

Analysis Results

Lines of code: 302
Nodes: 4
Topics: 9, 3 of which are system-related
Services: 30, 28 of which are system-related
Actions: 0
Publishers: 19, 12 of which are system-related
Subscriptions: 6, 4 of which are system-related
Service Servers: 30, 28 of which are system-related
Service Clients: 1
Action Servers: 0
Action Clients: 0

Nodes

/llm_audio_input

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
rt/llm_state	std_msgs.msg.String		'analysis/ros-sources/1710347388/llm_input_llm_audio_input.py':73:80
rt/llm_input_audio_to_text	std_msgs.msg.String		'analysis/ros-sources/1710347388/llm_input_llm_audio_input.py':80:8
rt/llm_initialization_state	std_msgs.msg.String		'analysis/ros-sources/1710347388/llm_input_llm_audio_input.py':68:8

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
rt/llm_state	std_msgs.msg.String		self::state_listener_callback	'analysis/ros-sources/1710347388/llm_input_llm_audio_input.py':76:8
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

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

/arm_robot

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
rt/target_pose	std_msgs.msg.Float64MultiArray		'analysis/ros-sources/1710347388/llm_robot_arx5_arm_robot.py':54:8

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
/ChatGPT_function_call_service	llm_interfaces.srv.ChatGPT		'analysis/ros-sources/1710347388/llm_robot_arx5_arm_robot.py':59:8
/arm_robot/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/arm_robot/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/arm_robot/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/arm_robot/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/arm_robot/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/arm_robot/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/arm_robot/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="/arm_robot">
            <profiles>
                <profile ns="/" node="arm_robot">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/target_pose</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/ChatGPT_function_call_service</service>
                        <service>/arm_robot/get_parameter_types</service>
                        <service>/arm_robot/list_parameters</service>
                        <service>/arm_robot/describe_parameters</service>
                        <service>/arm_robot/get_parameters</service>
                        <service>/arm_robot/get_type_description</service>
                        <service>/arm_robot/set_parameters</service>
                        <service>/arm_robot/set_parameters_atomically</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/audio_output

Publishers:

Topic Name	Message Type	System	Location
rt/llm_state	std_msgs.msg.String		'analysis/ros-sources/1710347388/llm_output_llm_audio_output.py':62:80
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/parameter_events	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/llm_initialization_state	std_msgs.msg.String		'analysis/ros-sources/1710347388/llm_output_llm_audio_output.py':57:8
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES	INTERNAL

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
rt/llm_feedback_to_user	std_msgs.msg.String		self::feedback_for_user_callback	'analysis/ros-sources/1710347388/llm_output_llm_audio_output.py':65:8
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

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

/turtle_robot

Publishers:

Topic Name	Message Type	System	Location
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/parameter_events	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/turtle1/cmd_vel	geometry_msgs.msg.Twist		'analysis/ros-sources/1710347388/llm_robot_turtle_robot.py':54:77
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
/turtle_robot/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/turtle_robot/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/ChatGPT_function_call_service	llm_interfaces.srv.ChatGPT		'analysis/ros-sources/1710347388/llm_robot_turtle_robot.py':59:8
/turtle_robot/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/turtle_robot/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/turtle_robot/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/turtle_robot/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/turtle_robot/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL

Service Clients:

Service Name	Service Type	System	Location
/reset	std_srvs.srv.Empty		'analysis/ros-sources/1710347388/llm_robot_turtle_robot.py':52:62

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="/turtle_robot">
            <profiles>
                <profile ns="/" node="turtle_robot">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/turtle1/cmd_vel</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/turtle_robot/get_parameter_types</service>
                        <service>/turtle_robot/get_parameters</service>
                        <service>/ChatGPT_function_call_service</service>
                        <service>/turtle_robot/list_parameters</service>
                        <service>/turtle_robot/get_type_description</service>
                        <service>/turtle_robot/describe_parameters</service>
                        <service>/turtle_robot/set_parameters_atomically</service>
                        <service>/turtle_robot/set_parameters</service>
                    </services>
                    <services request="ALLOW">
                        <service>/reset</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