Computational Graph

Analysis Results

  • Lines of code: 3840
  • Nodes: 52
  • Topics: 98, 3 of which are system-related
  • Services: 378, 364 of which are system-related
  • Actions: 1
  • Publishers: 288, 156 of which are system-related
  • Subscriptions: 135, 52 of which are system-related
  • Service Servers: 371, 364 of which are system-related
  • Service Clients: 11
  • Action Servers: 0
  • Action Clients: 1

Nodes

/autonomy_wildlife_encounter

Publishers:

Topic Name Message Type System Location
rt/navigation/translate geometry_msgs.msg.Point 'analysis/ros-sources/1710319119/wildlife_encounter_wildlife_encounter_node.py':21:81
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/navigation/set_waypoints nav_msgs.msg.Path 'analysis/ros-sources/1710319119/wildlife_encounter_wildlife_encounter_node.py':20:83
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/buoys/bounding_boxes autoware_auto_perception_msgs.msg.BoundingBoxArray self::buoys_callback 'analysis/ros-sources/1710319119/wildlife_encounter_wildlife_encounter_node.py':25:35
rt/navigation/success geometry_msgs.msg.PoseStamped self::nav_success_callback 'analysis/ros-sources/1710319119/wildlife_encounter_wildlife_encounter_node.py':23:41
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/localization/odometry nav_msgs.msg.Odometry self::odom_callback 'analysis/ros-sources/1710319119/wildlife_encounter_wildlife_encounter_node.py':27:34

Service Servers:

Service Name Service Type System Location
/autonomy_wildlife_encounter/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/autonomy_wildlife_encounter/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/autonomy_wildlife_encounter/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/autonomy_wildlife_encounter/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/autonomy_wildlife_encounter/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/autonomy_wildlife_encounter/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/autonomy_wildlife_encounter/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="/autonomy_wildlife_encounter">
            <profiles>
                <profile ns="/" node="autonomy_wildlife_encounter">
                    <topics publish="ALLOW">
                        <topic>/navigation/translate</topic>
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/navigation/set_waypoints</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/buoys/bounding_boxes</topic>
                        <topic>/navigation/success</topic>
                        <topic>/localization/odometry</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/autonomy_wildlife_encounter/get_type_description</service>
                        <service>/autonomy_wildlife_encounter/set_parameters</service>
                        <service>/autonomy_wildlife_encounter/set_parameters_atomically</service>
                        <service>/autonomy_wildlife_encounter/get_parameter_types</service>
                        <service>/autonomy_wildlife_encounter/list_parameters</service>
                        <service>/autonomy_wildlife_encounter/describe_parameters</service>
                        <service>/autonomy_wildlife_encounter/get_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/gx3_republish

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/wamv/sensors/imu/imu/data sensor_msgs.msg.Imu 'analysis/ros-sources/1710319119/virtuoso_sensors_gx3_republish.py':15:87
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/imu/data sensor_msgs.msg.Imu self::imu_callback 'analysis/ros-sources/1710319119/virtuoso_sensors_gx3_republish.py':23:35
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/gx3_republish/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/gx3_republish/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/gx3_republish/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/gx3_republish/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/gx3_republish/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/gx3_republish/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/gx3_republish/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="/gx3_republish">
            <profiles>
                <profile ns="/" node="gx3_republish">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/wamv/sensors/imu/imu/data</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/imu/data</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/gx3_republish/set_parameters_atomically</service>
                        <service>/gx3_republish/get_parameter_types</service>
                        <service>/gx3_republish/get_parameters</service>
                        <service>/gx3_republish/list_parameters</service>
                        <service>/gx3_republish/describe_parameters</service>
                        <service>/gx3_republish/set_parameters</service>
                        <service>/gx3_republish/get_type_description</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/perception

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/vrx/perception/landmark geographic_msgs.msg.GeoPoseStamped 'analysis/ros-sources/1710319119/perception_main.py':32:96

Subscriptions:

Topic Name Message Type System Callback Function Location
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/buoys/classified autoware_auto_perception_msgs.msg.BoundingBoxArray self::buoys_callback 'analysis/ros-sources/1710319119/perception_main.py':29:111
rt/gps/filtered sensor_msgs.msg.NavSatFix self::gps_callback 'analysis/ros-sources/1710319119/perception_main.py':30:97
rt/vrx/task/info virtuoso_msgs.msg.Task self::task_info_callback 'analysis/ros-sources/1710319119/perception_main.py':28:105

Service Servers:

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

Service Clients:

Service Name Service Type System Location
/toLL robot_localization.srv.ToLL 'analysis/ros-sources/1710319119/perception_main.py':43:56

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="/perception">
            <profiles>
                <profile ns="/" node="perception">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/vrx/perception/landmark</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/buoys/classified</topic>
                        <topic>/gps/filtered</topic>
                        <topic>/vrx/task/info</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/perception/list_parameters</service>
                        <service>/perception/set_parameters_atomically</service>
                        <service>/perception/set_parameters</service>
                        <service>/perception/describe_parameters</service>
                        <service>/perception/get_parameter_types</service>
                        <service>/perception/get_type_description</service>
                        <service>/perception/get_parameters</service>
                    </services>
                    <services request="ALLOW">
                        <service>/toLL</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/perception_channel

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
rt/localization/odometry nav_msgs.msg.Odometry self::odom_callback 'analysis/ros-sources/1710319119/buoys_channel_node.py':39:60

Service Servers:

Service Name Service Type System Location
/channel virtuoso_msgs.srv.Channel 'analysis/ros-sources/1710319119/buoys_channel_node.py':31:65
/perception_channel/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/perception_channel/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/perception_channel/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/perception_channel/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/perception_channel/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/perception_channel/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/perception_channel/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL

Service Clients:

Service Name Service Type System Location
/perception/lidar_buoy virtuoso_msgs.srv.LidarBuoy 'analysis/ros-sources/1710319119/buoys_channel_node.py':36:67
/perception/image_buoy_stereo virtuoso_msgs.srv.ImageBuoyStereo 'analysis/ros-sources/1710319119/buoys_channel_node.py':34:74

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="/perception_channel">
            <profiles>
                <profile ns="/" node="perception_channel">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/localization/odometry</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/channel</service>
                        <service>/perception_channel/describe_parameters</service>
                        <service>/perception_channel/set_parameters</service>
                        <service>/perception_channel/get_type_description</service>
                        <service>/perception_channel/get_parameters</service>
                        <service>/perception_channel/get_parameter_types</service>
                        <service>/perception_channel/set_parameters_atomically</service>
                        <service>/perception_channel/list_parameters</service>
                    </services>
                    <services request="ALLOW">
                        <service>/perception/lidar_buoy</service>
                        <service>/perception/image_buoy_stereo</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/test_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
/test_controller/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/test_controller/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/test_controller/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/test_controller/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/test_controller/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/test_controller/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/test_controller/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL

Service Clients:

No Service Clients on this Node

Action Clients:

Action Name Action Type System Location
/follow_path nav2_msgs.action.FollowPath 'analysis/ros-sources/1710319119/testing_controller.py':13:66

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>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/test_controller/get_parameters</service>
                        <service>/test_controller/list_parameters</service>
                        <service>/test_controller/describe_parameters</service>
                        <service>/test_controller/set_parameters</service>
                        <service>/test_controller/get_parameter_types</service>
                        <service>/test_controller/set_parameters_atomically</service>
                        <service>/test_controller/get_type_description</service>
                    </services>
                    <actions call="ALLOW">
                        <action>/follow_path</action>
                    </actions>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/perception_buoy_lidar

Publishers:

Topic Name Message Type System Location
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/buoys/bounding_boxes virtuoso_msgs.msg.BoundingBoxArray 'analysis/ros-sources/1710319119/buoys_buoy_lidar_node.py':28:43
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
rt/perception/lidar/bounding_boxes virtuoso_msgs.msg.BoundingBoxArray self::lidar_bounding_boxes_callback 'analysis/ros-sources/1710319119/buoys_buoy_lidar_node.py':15:50

Service Servers:

Service Name Service Type System Location
/perception_buoy_lidar/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/perception_buoy_lidar/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/perception_buoy_lidar/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/perception_buoy_lidar/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/perception_buoy_lidar/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/perception_buoy_lidar/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/perception/lidar_buoy virtuoso_msgs.srv.LidarBuoy 'analysis/ros-sources/1710319119/buoys_buoy_lidar_node.py':33:29
/perception_buoy_lidar/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="/perception_buoy_lidar">
            <profiles>
                <profile ns="/" node="perception_buoy_lidar">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/buoys/bounding_boxes</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/perception/lidar/bounding_boxes</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/perception_buoy_lidar/describe_parameters</service>
                        <service>/perception_buoy_lidar/set_parameters</service>
                        <service>/perception_buoy_lidar/get_parameter_types</service>
                        <service>/perception_buoy_lidar/get_parameters</service>
                        <service>/perception_buoy_lidar/set_parameters_atomically</service>
                        <service>/perception_buoy_lidar/list_parameters</service>
                        <service>/perception/lidar_buoy</service>
                        <service>/perception_buoy_lidar/get_type_description</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/test_station_keeping

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/navigation/station_keep std_msgs.msg.Empty 'analysis/ros-sources/1710319119/testing_station_keeping.py':16:78
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/localization/odometry nav_msgs.msg.Odometry self::update_pose 'analysis/ros-sources/1710319119/testing_station_keeping.py':17:105

Service Servers:

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

/test_controller_yaw_right

Publishers:

Topic Name Message Type System Location
rt/controller/velocity_pid/targetTorque std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_yaw_right.py':31:102
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/controller/basic_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_yaw_right.py':26:107
rt/controller/basic_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_yaw_right.py':27:107
rt/controller/basic_pid/targetTorque std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_yaw_right.py':28:101
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/navigation/navigateToPoint std_msgs.msg.Bool 'analysis/ros-sources/1710319119/testing_test_yaw_right.py':25:96
rt/controller/velocity_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_yaw_right.py':29:102
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/controller/velocity_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_yaw_right.py':30:102

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_yaw_right/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/test_controller_yaw_right/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/test_controller_yaw_right/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/test_controller_yaw_right/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/test_controller_yaw_right/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/test_controller_yaw_right/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/test_controller_yaw_right/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="/test_controller_yaw_right">
            <profiles>
                <profile ns="/" node="test_controller_yaw_right">
                    <topics publish="ALLOW">
                        <topic>/controller/velocity_pid/targetTorque</topic>
                        <topic>/controller/basic_pid/targetForceX</topic>
                        <topic>/controller/basic_pid/targetForceY</topic>
                        <topic>/controller/basic_pid/targetTorque</topic>
                        <topic>/rosout</topic>
                        <topic>/navigation/navigateToPoint</topic>
                        <topic>/controller/velocity_pid/targetForceX</topic>
                        <topic>/parameter_events</topic>
                        <topic>/controller/velocity_pid/targetForceY</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/test_controller_yaw_right/get_type_description</service>
                        <service>/test_controller_yaw_right/describe_parameters</service>
                        <service>/test_controller_yaw_right/set_parameters_atomically</service>
                        <service>/test_controller_yaw_right/get_parameters</service>
                        <service>/test_controller_yaw_right/set_parameters</service>
                        <service>/test_controller_yaw_right/get_parameter_types</service>
                        <service>/test_controller_yaw_right/list_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/navigation_waypoints

Publishers:

Topic Name Message Type System Location
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/navigation/plan nav_msgs.msg.Path 'analysis/ros-sources/1710319119/virtuoso_navigation_waypoints_node.py':23:74
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/navigation/success geometry_msgs.msg.PoseStamped 'analysis/ros-sources/1710319119/virtuoso_navigation_waypoints_node.py':21:87
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/controller/is_translation std_msgs.msg.Bool 'analysis/ros-sources/1710319119/virtuoso_navigation_waypoints_node.py':24:88

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/navigation/set_waypoints nav_msgs.msg.Path self::set_waypoints 'analysis/ros-sources/1710319119/virtuoso_navigation_waypoints_node.py':16:111
rt/navigation/set_trans_waypoints nav_msgs.msg.Path self::set_trans_waypoints 'analysis/ros-sources/1710319119/virtuoso_navigation_waypoints_node.py':17:40
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/localization/odometry nav_msgs.msg.Odometry self::odom_callback 'analysis/ros-sources/1710319119/virtuoso_navigation_waypoints_node.py':19:107

Service Servers:

Service Name Service Type System Location
/navigation_waypoints/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/navigation_waypoints/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/navigation_waypoints/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/navigation_waypoints/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/navigation_waypoints/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/navigation_waypoints/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/navigation_waypoints/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="/navigation_waypoints">
            <profiles>
                <profile ns="/" node="navigation_waypoints">
                    <topics publish="ALLOW">
                        <topic>/navigation/plan</topic>
                        <topic>/rosout</topic>
                        <topic>/navigation/success</topic>
                        <topic>/parameter_events</topic>
                        <topic>/controller/is_translation</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/navigation/set_waypoints</topic>
                        <topic>/navigation/set_trans_waypoints</topic>
                        <topic>/localization/odometry</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/navigation_waypoints/get_type_description</service>
                        <service>/navigation_waypoints/get_parameters</service>
                        <service>/navigation_waypoints/describe_parameters</service>
                        <service>/navigation_waypoints/list_parameters</service>
                        <service>/navigation_waypoints/set_parameters</service>
                        <service>/navigation_waypoints/get_parameter_types</service>
                        <service>/navigation_waypoints/set_parameters_atomically</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/testing_backward

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/navigation/set_waypoints nav_msgs.msg.Path 'analysis/ros-sources/1710319119/testing_diamond.py':15:78
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/localization/odometry nav_msgs.msg.Odometry self::update_pose 'analysis/ros-sources/1710319119/testing_diamond.py':16:105
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

/autonomy_enter_and_exit

Publishers:

Topic Name Message Type System Location
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/navigation/station_keep std_msgs.msg.Empty 'analysis/ros-sources/1710319119/enter_and_exit_enter_exit_node.py':20:94
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/navigation/set_waypoints nav_msgs.msg.Path 'analysis/ros-sources/1710319119/enter_and_exit_enter_exit_node.py':19:83
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/buoys/bounding_boxes autoware_auto_perception_msgs.msg.BoundingBoxArray self::update_buoys 'analysis/ros-sources/1710319119/enter_and_exit_enter_exit_node.py':24:33
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/navigation/success geometry_msgs.msg.PoseStamped self::nav_success 'analysis/ros-sources/1710319119/enter_and_exit_enter_exit_node.py':22:32
rt/localization/odometry nav_msgs.msg.Odometry self::update_robot_pose 'analysis/ros-sources/1710319119/enter_and_exit_enter_exit_node.py':26:38

Service Servers:

Service Name Service Type System Location
/autonomy_enter_and_exit/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/autonomy_enter_and_exit/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/autonomy_enter_and_exit/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/autonomy_enter_and_exit/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/autonomy_enter_and_exit/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/autonomy_enter_and_exit/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/autonomy_enter_and_exit/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="/autonomy_enter_and_exit">
            <profiles>
                <profile ns="/" node="autonomy_enter_and_exit">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/navigation/station_keep</topic>
                        <topic>/navigation/set_waypoints</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/buoys/bounding_boxes</topic>
                        <topic>/navigation/success</topic>
                        <topic>/localization/odometry</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/autonomy_enter_and_exit/get_type_description</service>
                        <service>/autonomy_enter_and_exit/list_parameters</service>
                        <service>/autonomy_enter_and_exit/describe_parameters</service>
                        <service>/autonomy_enter_and_exit/get_parameter_types</service>
                        <service>/autonomy_enter_and_exit/set_parameters</service>
                        <service>/autonomy_enter_and_exit/set_parameters_atomically</service>
                        <service>/autonomy_enter_and_exit/get_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/controller_choose_PID

Publishers:

Topic Name Message Type System Location
rt/controller/waypoint nav_msgs.msg.Odometry 'analysis/ros-sources/1710319119/virtuoso_controller_choose_pid_node.py':46:86
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/controller/navigateToPoint std_msgs.msg.Bool 'analysis/ros-sources/1710319119/virtuoso_controller_choose_pid_node.py':45:98
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/controller/is_translation std_msgs.msg.Bool self::hold_final_orient_callback 'analysis/ros-sources/1710319119/virtuoso_controller_choose_pid_node.py':42:83
rt/controller/path_complete std_msgs.msg.Bool self::path_complete_callback 'analysis/ros-sources/1710319119/virtuoso_controller_choose_pid_node.py':36:14
rt/controller/cmd_vel geometry_msgs.msg.Twist self::cmd_vel_callback 'analysis/ros-sources/1710319119/virtuoso_controller_choose_pid_node.py':30:14
rt/navigation/plan nav_msgs.msg.Path self::path_callback 'analysis/ros-sources/1710319119/virtuoso_controller_choose_pid_node.py':20:14
rt/localization/odometry nav_msgs.msg.Odometry self::odometry_callback 'analysis/ros-sources/1710319119/virtuoso_controller_choose_pid_node.py':25:14
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/controller_choose_PID/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/controller_choose_PID/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/controller_choose_PID/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/controller_choose_PID/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/controller_choose_PID/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/controller_choose_PID/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/controller_choose_PID/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="/controller_choose_PID">
            <profiles>
                <profile ns="/" node="controller_choose_PID">
                    <topics publish="ALLOW">
                        <topic>/controller/waypoint</topic>
                        <topic>/rosout</topic>
                        <topic>/controller/navigateToPoint</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/controller/is_translation</topic>
                        <topic>/controller/path_complete</topic>
                        <topic>/controller/cmd_vel</topic>
                        <topic>/navigation/plan</topic>
                        <topic>/localization/odometry</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/controller_choose_PID/describe_parameters</service>
                        <service>/controller_choose_PID/get_parameter_types</service>
                        <service>/controller_choose_PID/get_type_description</service>
                        <service>/controller_choose_PID/list_parameters</service>
                        <service>/controller_choose_PID/get_parameters</service>
                        <service>/controller_choose_PID/set_parameters</service>
                        <service>/controller_choose_PID/set_parameters_atomically</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/perception_find_dock_entrances

Publishers:

Topic Name Message Type System Location
rt/perception/find_dock_entrances/ready std_msgs.msg.Int8 'analysis/ros-sources/1710319119/dock_find_dock_entrances_node.py':28:96
rt/perception/debug/possible_entrances sensor_msgs.msg.PointCloud2 'analysis/ros-sources/1710319119/dock_find_dock_entrances_node.py':32:54
rt/perception/dock_entrances sensor_msgs.msg.PointCloud2 'analysis/ros-sources/1710319119/dock_find_dock_entrances_node.py':36:92
rt/perception/debug/first_two_entrances sensor_msgs.msg.PointCloud2 'analysis/ros-sources/1710319119/dock_find_dock_entrances_node.py':30:55
rt/perception/dock_ahead_entrance sensor_msgs.msg.PointCloud2 'analysis/ros-sources/1710319119/dock_find_dock_entrances_node.py':37:102
rt/perception/debug/current_entrances sensor_msgs.msg.PointCloud2 'analysis/ros-sources/1710319119/dock_find_dock_entrances_node.py':34:100
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
rt/perception/start_find_docks std_msgs.msg.Int8 self::start_callback 'analysis/ros-sources/1710319119/dock_find_dock_entrances_node.py':25:35
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/perception/voxel_voxels sensor_msgs.msg.PointCloud2 self::points_callback 'analysis/ros-sources/1710319119/dock_find_dock_entrances_node.py':23:36

Service Servers:

Service Name Service Type System Location
/perception_find_dock_entrances/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/perception_find_dock_entrances/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/perception_find_dock_entrances/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/perception_find_dock_entrances/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/perception_find_dock_entrances/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/perception_find_dock_entrances/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/perception_find_dock_entrances/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="/perception_find_dock_entrances">
            <profiles>
                <profile ns="/" node="perception_find_dock_entrances">
                    <topics publish="ALLOW">
                        <topic>/perception/find_dock_entrances/ready</topic>
                        <topic>/perception/debug/possible_entrances</topic>
                        <topic>/perception/dock_entrances</topic>
                        <topic>/perception/debug/first_two_entrances</topic>
                        <topic>/perception/dock_ahead_entrance</topic>
                        <topic>/perception/debug/current_entrances</topic>
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/perception/start_find_docks</topic>
                        <topic>/perception/voxel_voxels</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/perception_find_dock_entrances/get_type_description</service>
                        <service>/perception_find_dock_entrances/describe_parameters</service>
                        <service>/perception_find_dock_entrances/get_parameter_types</service>
                        <service>/perception_find_dock_entrances/set_parameters_atomically</service>
                        <service>/perception_find_dock_entrances/list_parameters</service>
                        <service>/perception_find_dock_entrances/set_parameters</service>
                        <service>/perception_find_dock_entrances/get_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/controller_velocity_PID

Publishers:

Topic Name Message Type System Location
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/controller/velocity_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/virtuoso_controller_velocity_pid_node.py':32:55
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/controller/velocity_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/virtuoso_controller_velocity_pid_node.py':34:55

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/localization/odometry nav_msgs.msg.Odometry self::odometry_callback 'analysis/ros-sources/1710319119/virtuoso_controller_velocity_pid_node.py':38:14
rt/controller/cmd_vel geometry_msgs.msg.Twist self::cmd_vel_callback 'analysis/ros-sources/1710319119/virtuoso_controller_velocity_pid_node.py':45:14
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/controller_velocity_PID/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/controller_velocity_PID/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/controller_velocity_PID/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/controller_velocity_PID/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/controller_velocity_PID/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/controller_velocity_PID/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/controller_velocity_PID/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="/controller_velocity_PID">
            <profiles>
                <profile ns="/" node="controller_velocity_PID">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/controller/velocity_pid/targetForceX</topic>
                        <topic>/rosout</topic>
                        <topic>/controller/velocity_pid/targetForceY</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/localization/odometry</topic>
                        <topic>/controller/cmd_vel</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/controller_velocity_PID/get_parameters</service>
                        <service>/controller_velocity_PID/set_parameters_atomically</service>
                        <service>/controller_velocity_PID/get_type_description</service>
                        <service>/controller_velocity_PID/describe_parameters</service>
                        <service>/controller_velocity_PID/get_parameter_types</service>
                        <service>/controller_velocity_PID/list_parameters</service>
                        <service>/controller_velocity_PID/set_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/perception_buoy_stereo

Publishers:

Topic Name Message Type System Location
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/perception/stereo/debug/left_cam/rectified_buoy1 sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/stereo_buoy_stereo_node.py':69:100
rt/perception/stereo/debug/right_cam/rectified_buoy1 sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/stereo_buoy_stereo_node.py':72:101
rt/perception/stereo/debug/right_cam/contoured_buoy1 sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/stereo_buoy_stereo_node.py':66:101
rt/perception/stereo/debug/left_cam/contoured_buoy1 sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/stereo_buoy_stereo_node.py':63:100
rt/perception/stereo/debug/points sensor_msgs.msg.PointCloud2 'analysis/ros-sources/1710319119/stereo_buoy_stereo_node.py':77:53
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/f'{base_topics[0]}/image_raw' sensor_msgs.msg.Image self::left_cam_callback 'analysis/ros-sources/1710319119/stereo_buoy_stereo_node.py':38:69
rt/f'{base_topics[1]}/camera_info' sensor_msgs.msg.CameraInfo self::right_cam_info_callback 'analysis/ros-sources/1710319119/stereo_buoy_stereo_node.py':45:77
rt/f'{base_topics[1]}/image_raw' sensor_msgs.msg.Image self::right_cam_callback 'analysis/ros-sources/1710319119/stereo_buoy_stereo_node.py':43:70
rt/f'{base_topics[0]}/camera_info' sensor_msgs.msg.CameraInfo self::left_cam_info_callback 'analysis/ros-sources/1710319119/stereo_buoy_stereo_node.py':40:76
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/perception_buoy_stereo/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/perception_buoy_stereo/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/perception_buoy_stereo/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/perception_buoy_stereo/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/perception/image_buoy_stereo virtuoso_msgs.srv.ImageBuoyStereo 'analysis/ros-sources/1710319119/stereo_buoy_stereo_node.py':53:61
/perception_buoy_stereo/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/perception_buoy_stereo/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/perception_buoy_stereo/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL

Service Clients:

Service Name Service Type System Location
/f'{cams[0]}/buoy_filter' virtuoso_msgs.srv.ImageBuoyFilter 'analysis/ros-sources/1710319119/stereo_buoy_stereo_node.py':56:68
/f'{cams[1]}/buoy_filter' virtuoso_msgs.srv.ImageBuoyFilter 'analysis/ros-sources/1710319119/stereo_buoy_stereo_node.py':58:68

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="/perception_buoy_stereo">
            <profiles>
                <profile ns="/" node="perception_buoy_stereo">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/perception/stereo/debug/left_cam/rectified_buoy1</topic>
                        <topic>/perception/stereo/debug/right_cam/rectified_buoy1</topic>
                        <topic>/perception/stereo/debug/right_cam/contoured_buoy1</topic>
                        <topic>/perception/stereo/debug/left_cam/contoured_buoy1</topic>
                        <topic>/perception/stereo/debug/points</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/f'{base_topics[0]}/image_raw'</topic>
                        <topic>/f'{base_topics[1]}/camera_info'</topic>
                        <topic>/f'{base_topics[1]}/image_raw'</topic>
                        <topic>/f'{base_topics[0]}/camera_info'</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/perception_buoy_stereo/list_parameters</service>
                        <service>/perception_buoy_stereo/get_parameter_types</service>
                        <service>/perception_buoy_stereo/set_parameters</service>
                        <service>/perception_buoy_stereo/set_parameters_atomically</service>
                        <service>/perception/image_buoy_stereo</service>
                        <service>/perception_buoy_stereo/get_parameters</service>
                        <service>/perception_buoy_stereo/describe_parameters</service>
                        <service>/perception_buoy_stereo/get_type_description</service>
                    </services>
                    <services request="ALLOW">
                        <service>/f'{cams[0]}/buoy_filter'</service>
                        <service>/f'{cams[1]}/buoy_filter'</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/testing_circle

Publishers:

Topic Name Message Type System Location
rt/navigation/plan nav_msgs.msg.Path 'analysis/ros-sources/1710319119/testing_circle.py':18:69
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/controller/is_translation std_msgs.msg.Bool 'analysis/ros-sources/1710319119/testing_circle.py':20:94
rt/parameter_events 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/localization/odometry nav_msgs.msg.Odometry self::update_pose 'analysis/ros-sources/1710319119/testing_circle.py':19:105

Service Servers:

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

/controller_cmd_vel_generator

Publishers:

Topic Name Message Type System Location
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/controller/path_complete std_msgs.msg.Bool 'analysis/ros-sources/1710319119/virtuoso_controller_cmd_vel_generator_node.py':37:98
rt/controller/cmd_vel geometry_msgs.msg.Twist 'analysis/ros-sources/1710319119/virtuoso_controller_cmd_vel_generator_node.py':36:87
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
rt/localization/odometry nav_msgs.msg.Odometry self::odometry_callback 'analysis/ros-sources/1710319119/virtuoso_controller_cmd_vel_generator_node.py':27:14
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/controller/is_translation std_msgs.msg.Bool self::hold_final_orient_callback 'analysis/ros-sources/1710319119/virtuoso_controller_cmd_vel_generator_node.py':33:83
rt/navigation/plan nav_msgs.msg.Path self::path_callback 'analysis/ros-sources/1710319119/virtuoso_controller_cmd_vel_generator_node.py':22:14

Service Servers:

Service Name Service Type System Location
/controller_cmd_vel_generator/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/controller_cmd_vel_generator/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/controller_cmd_vel_generator/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/controller_cmd_vel_generator/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/controller_cmd_vel_generator/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/controller_cmd_vel_generator/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/controller_cmd_vel_generator/describe_parameters rcl_interfaces/srv/DescribeParameters 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="/controller_cmd_vel_generator">
            <profiles>
                <profile ns="/" node="controller_cmd_vel_generator">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/controller/path_complete</topic>
                        <topic>/controller/cmd_vel</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/localization/odometry</topic>
                        <topic>/controller/is_translation</topic>
                        <topic>/navigation/plan</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/controller_cmd_vel_generator/list_parameters</service>
                        <service>/controller_cmd_vel_generator/get_parameter_types</service>
                        <service>/controller_cmd_vel_generator/get_type_description</service>
                        <service>/controller_cmd_vel_generator/set_parameters</service>
                        <service>/controller_cmd_vel_generator/get_parameters</service>
                        <service>/controller_cmd_vel_generator/set_parameters_atomically</service>
                        <service>/controller_cmd_vel_generator/describe_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/test_controller_right

Publishers:

Topic Name Message Type System Location
rt/controller/basic_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_stop.py':27:107
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/controller/velocity_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_stop.py':30:102
rt/controller/basic_pid/targetTorque std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_stop.py':28:101
rt/controller/basic_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_stop.py':26:107
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/navigation/navigateToPoint std_msgs.msg.Bool 'analysis/ros-sources/1710319119/testing_test_stop.py':25:96
rt/controller/velocity_pid/targetTorque std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_stop.py':31:102
rt/controller/velocity_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_stop.py':29:102

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_right/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/test_controller_right/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/test_controller_right/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/test_controller_right/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/test_controller_right/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/test_controller_right/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/test_controller_right/describe_parameters rcl_interfaces/srv/DescribeParameters 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="/test_controller_right">
            <profiles>
                <profile ns="/" node="test_controller_right">
                    <topics publish="ALLOW">
                        <topic>/controller/basic_pid/targetForceY</topic>
                        <topic>/controller/velocity_pid/targetForceY</topic>
                        <topic>/controller/basic_pid/targetTorque</topic>
                        <topic>/controller/basic_pid/targetForceX</topic>
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                        <topic>/navigation/navigateToPoint</topic>
                        <topic>/controller/velocity_pid/targetTorque</topic>
                        <topic>/controller/velocity_pid/targetForceX</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/test_controller_right/get_type_description</service>
                        <service>/test_controller_right/get_parameter_types</service>
                        <service>/test_controller_right/get_parameters</service>
                        <service>/test_controller_right/list_parameters</service>
                        <service>/test_controller_right/set_parameters</service>
                        <service>/test_controller_right/set_parameters_atomically</service>
                        <service>/test_controller_right/describe_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/perception_scan_code

Publishers:

Topic Name Message Type System Location
rt/perception/debug/find_code_coord sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/code_scan_code_node.py':23:51
rt/perception/code std_msgs.msg.Int32MultiArray 'analysis/ros-sources/1710319119/code_scan_code_node.py':21:85
rt/perception/debug/code_green_filter sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/code_scan_code_node.py':27:53
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/perception/scan_code/ready std_msgs.msg.Int8 'analysis/ros-sources/1710319119/code_scan_code_node.py':20:86
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/perception/debug/code_blue_filter sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/code_scan_code_node.py':29:52
rt/perception/debug/code_red_filter sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/code_scan_code_node.py':25:51
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/processing/image/downscaled sensor_msgs.msg.Image self::image_callback 'analysis/ros-sources/1710319119/code_scan_code_node.py':15:35
rt/perception/get_code std_msgs.msg.Int8 self::start_scan 'analysis/ros-sources/1710319119/code_scan_code_node.py':17:31
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/perception_scan_code/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/perception_scan_code/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/perception_scan_code/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/perception_scan_code/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/perception_scan_code/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/perception_scan_code/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/perception_scan_code/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="/perception_scan_code">
            <profiles>
                <profile ns="/" node="perception_scan_code">
                    <topics publish="ALLOW">
                        <topic>/perception/debug/find_code_coord</topic>
                        <topic>/perception/code</topic>
                        <topic>/perception/debug/code_green_filter</topic>
                        <topic>/parameter_events</topic>
                        <topic>/perception/scan_code/ready</topic>
                        <topic>/rosout</topic>
                        <topic>/perception/debug/code_blue_filter</topic>
                        <topic>/perception/debug/code_red_filter</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/processing/image/downscaled</topic>
                        <topic>/perception/get_code</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/perception_scan_code/set_parameters</service>
                        <service>/perception_scan_code/describe_parameters</service>
                        <service>/perception_scan_code/set_parameters_atomically</service>
                        <service>/perception_scan_code/list_parameters</service>
                        <service>/perception_scan_code/get_parameters</service>
                        <service>/perception_scan_code/get_type_description</service>
                        <service>/perception_scan_code/get_parameter_types</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/test_set_goal

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/virtuoso_navigation/set_goal geometry_msgs.msg.PoseStamped 'analysis/ros-sources/1710319119/testing_set_goal.py':9:89
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
/test_set_goal/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/test_set_goal/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/test_set_goal/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/test_set_goal/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/test_set_goal/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/test_set_goal/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/test_set_goal/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="/test_set_goal">
            <profiles>
                <profile ns="/" node="test_set_goal">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/virtuoso_navigation/set_goal</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/test_set_goal/describe_parameters</service>
                        <service>/test_set_goal/get_parameter_types</service>
                        <service>/test_set_goal/set_parameters_atomically</service>
                        <service>/test_set_goal/get_type_description</service>
                        <service>/test_set_goal/list_parameters</service>
                        <service>/test_set_goal/get_parameters</service>
                        <service>/test_set_goal/set_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/test_waypoint_generator

Publishers:

Topic Name Message Type System Location
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/waypoint nav_msgs.msg.Odometry 'analysis/ros-sources/1710319119/testing_test_waypoint_generator.py':29:74
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
/test_waypoint_generator/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/test_waypoint_generator/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/test_waypoint_generator/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/test_waypoint_generator/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/test_waypoint_generator/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/test_waypoint_generator/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/test_waypoint_generator/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="/test_waypoint_generator">
            <profiles>
                <profile ns="/" node="test_waypoint_generator">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                        <topic>/waypoint</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/test_waypoint_generator/describe_parameters</service>
                        <service>/test_waypoint_generator/set_parameters</service>
                        <service>/test_waypoint_generator/get_parameters</service>
                        <service>/test_waypoint_generator/list_parameters</service>
                        <service>/test_waypoint_generator/set_parameters_atomically</service>
                        <service>/test_waypoint_generator/get_parameter_types</service>
                        <service>/test_waypoint_generator/get_type_description</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/lidar_republish

Publishers:

Topic Name Message Type System Location
rt/wamv/sensors/lidars/lidar_wamv/points sensor_msgs.msg.PointCloud2 'analysis/ros-sources/1710319119/virtuoso_sensors_lidar_republish.py':13:97
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
rt/velodyne_points sensor_msgs.msg.PointCloud2 self::republish 'analysis/ros-sources/1710319119/virtuoso_sensors_lidar_republish.py':11:95
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

/station_keeping

Publishers:

Topic Name Message Type System Location
rt/navigation/set_waypoints nav_msgs.msg.Path 'analysis/ros-sources/1710319119/station_keeping_station_keeping_node.py':38:83
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/vrx/stationkeeping/goal geometry_msgs.msg.PoseStamped self::goal_callback 'analysis/ros-sources/1710319119/station_keeping_station_keeping_node.py':33:34
rt/vrx/task/info ros_gz_interfaces.msg.ParamVec self::task_info_callback 'analysis/ros-sources/1710319119/station_keeping_station_keeping_node.py':30:39
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

Service Clients:

Service Name Service Type System Location
/fromLL robot_localization.srv.FromLL 'analysis/ros-sources/1710319119/station_keeping_station_keeping_node.py':36:62

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="/station_keeping">
            <profiles>
                <profile ns="/" node="station_keeping">
                    <topics publish="ALLOW">
                        <topic>/navigation/set_waypoints</topic>
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/vrx/stationkeeping/goal</topic>
                        <topic>/vrx/task/info</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/station_keeping/get_parameter_types</service>
                        <service>/station_keeping/set_parameters</service>
                        <service>/station_keeping/describe_parameters</service>
                        <service>/station_keeping/get_type_description</service>
                        <service>/station_keeping/get_parameters</service>
                        <service>/station_keeping/set_parameters_atomically</service>
                        <service>/station_keeping/list_parameters</service>
                    </services>
                    <services request="ALLOW">
                        <service>/fromLL</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/autonomy_scan_code

Publishers:

Topic Name Message Type System Location
rt/perception/get_code std_msgs.msg.Int8 'analysis/ros-sources/1710319119/scan_code_scan_code_node.py':13:82
rt/navigation/station_keep std_msgs.msg.Empty 'analysis/ros-sources/1710319119/scan_code_scan_code_node.py':14:42
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/perception/code std_msgs.msg.Int32MultiArray self::code_callback 'analysis/ros-sources/1710319119/scan_code_scan_code_node.py':17:34
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

/autonomy_docking

Publishers:

Topic Name Message Type System Location
rt/navigation/set_waypoints nav_msgs.msg.Path 'analysis/ros-sources/1710319119/docking_docking_node.py':23:83
rt/perception/start_find_docks std_msgs.msg.Int8 'analysis/ros-sources/1710319119/docking_docking_node.py':22:96
rt/navigation/translate geometry_msgs.msg.Point 'analysis/ros-sources/1710319119/docking_docking_node.py':36:81
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/navigation/station_keep std_msgs.msg.Empty 'analysis/ros-sources/1710319119/docking_docking_node.py':24:94
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/navigation/translate_success geometry_msgs.msg.Point self::trans_success_callback 'analysis/ros-sources/1710319119/docking_docking_node.py':37:43
rt/perception/find_dock_codes/ready std_msgs.msg.Int8 self::find_dock_codes_ready_callback 'analysis/ros-sources/1710319119/docking_docking_node.py':26:51
rt/perception/dock_code_offsets std_msgs.msg.Int32MultiArray self::offsets_callback 'analysis/ros-sources/1710319119/docking_docking_node.py':29:70
rt/perception/dock_entrances sensor_msgs.msg.PointCloud2 self::entrances_callback 'analysis/ros-sources/1710319119/docking_docking_node.py':31:69
rt/perception/dock_ahead_entrance sensor_msgs.msg.PointCloud2 self::ahead_entrance_callback 'analysis/ros-sources/1710319119/docking_docking_node.py':33:79
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/autonomy_docking/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/autonomy_docking/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/autonomy_docking/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/autonomy_docking/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/autonomy_docking/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/autonomy_docking/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/autonomy_docking/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="/autonomy_docking">
            <profiles>
                <profile ns="/" node="autonomy_docking">
                    <topics publish="ALLOW">
                        <topic>/navigation/set_waypoints</topic>
                        <topic>/perception/start_find_docks</topic>
                        <topic>/navigation/translate</topic>
                        <topic>/rosout</topic>
                        <topic>/navigation/station_keep</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/navigation/translate_success</topic>
                        <topic>/perception/find_dock_codes/ready</topic>
                        <topic>/perception/dock_code_offsets</topic>
                        <topic>/perception/dock_entrances</topic>
                        <topic>/perception/dock_ahead_entrance</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/autonomy_docking/list_parameters</service>
                        <service>/autonomy_docking/describe_parameters</service>
                        <service>/autonomy_docking/get_parameters</service>
                        <service>/autonomy_docking/set_parameters</service>
                        <service>/autonomy_docking/set_parameters_atomically</service>
                        <service>/autonomy_docking/get_type_description</service>
                        <service>/autonomy_docking/get_parameter_types</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/test_change_goal

Publishers:

Topic Name Message Type System Location
rt/virtuoso_navigation/set_goal geometry_msgs.msg.PoseStamped 'analysis/ros-sources/1710319119/testing_change_goal.py':13:89
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
/test_change_goal/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/test_change_goal/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/test_change_goal/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/test_change_goal/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/test_change_goal/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/test_change_goal/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/test_change_goal/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="/test_change_goal">
            <profiles>
                <profile ns="/" node="test_change_goal">
                    <topics publish="ALLOW">
                        <topic>/virtuoso_navigation/set_goal</topic>
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/test_change_goal/get_parameters</service>
                        <service>/test_change_goal/get_type_description</service>
                        <service>/test_change_goal/list_parameters</service>
                        <service>/test_change_goal/get_parameter_types</service>
                        <service>/test_change_goal/set_parameters</service>
                        <service>/test_change_goal/describe_parameters</service>
                        <service>/test_change_goal/set_parameters_atomically</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/wayfinding

Publishers:

Topic Name Message Type System Location
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/navigation/set_waypoints nav_msgs.msg.Path 'analysis/ros-sources/1710319119/wayfinding_wayfinding_node.py':36:83
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
rt/vrx/wayfinding/waypoints geometry_msgs.msg.PoseArray self::waypoints_callback 'analysis/ros-sources/1710319119/wayfinding_wayfinding_node.py':31:39
rt/vrx/task/info ros_gz_interfaces.msg.ParamVec self::task_info_callback 'analysis/ros-sources/1710319119/wayfinding_wayfinding_node.py':28:39
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

Service Clients:

Service Name Service Type System Location
/fromLL robot_localization.srv.FromLL 'analysis/ros-sources/1710319119/wayfinding_wayfinding_node.py':34:62

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="/wayfinding">
            <profiles>
                <profile ns="/" node="wayfinding">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/navigation/set_waypoints</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/vrx/wayfinding/waypoints</topic>
                        <topic>/vrx/task/info</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/wayfinding/set_parameters_atomically</service>
                        <service>/wayfinding/list_parameters</service>
                        <service>/wayfinding/set_parameters</service>
                        <service>/wayfinding/get_parameters</service>
                        <service>/wayfinding/get_parameter_types</service>
                        <service>/wayfinding/describe_parameters</service>
                        <service>/wayfinding/get_type_description</service>
                    </services>
                    <services request="ALLOW">
                        <service>/fromLL</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/test_controller_forward

Publishers:

Topic Name Message Type System Location
rt/controller/basic_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_forward.py':26:107
rt/controller/velocity_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_forward.py':30:102
rt/controller/velocity_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_forward.py':29:102
rt/controller/velocity_pid/targetTorque std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_forward.py':31:102
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/controller/basic_pid/targetTorque std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_forward.py':28:101
rt/controller/basic_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_forward.py':27:107
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/navigation/navigateToPoint std_msgs.msg.Bool 'analysis/ros-sources/1710319119/testing_test_forward.py':25:96

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_forward/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/test_controller_forward/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/test_controller_forward/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/test_controller_forward/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/test_controller_forward/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/test_controller_forward/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/test_controller_forward/describe_parameters rcl_interfaces/srv/DescribeParameters 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="/test_controller_forward">
            <profiles>
                <profile ns="/" node="test_controller_forward">
                    <topics publish="ALLOW">
                        <topic>/controller/basic_pid/targetForceX</topic>
                        <topic>/controller/velocity_pid/targetForceY</topic>
                        <topic>/controller/velocity_pid/targetForceX</topic>
                        <topic>/controller/velocity_pid/targetTorque</topic>
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/controller/basic_pid/targetTorque</topic>
                        <topic>/controller/basic_pid/targetForceY</topic>
                        <topic>/navigation/navigateToPoint</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/test_controller_forward/list_parameters</service>
                        <service>/test_controller_forward/get_parameter_types</service>
                        <service>/test_controller_forward/get_parameters</service>
                        <service>/test_controller_forward/get_type_description</service>
                        <service>/test_controller_forward/set_parameters</service>
                        <service>/test_controller_forward/set_parameters_atomically</service>
                        <service>/test_controller_forward/describe_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/mission_interpreter

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/vrx/task/info virtuoso_msgs.msg.Task self::task_info_callback 'analysis/ros-sources/1710319119/vrx_mission_interpreter.py':10:105
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

/perception_buoy_cam_filter

Publishers:

Topic Name Message Type System Location
rt/f'{base_topic}/buoy_filter/debug/full_contours' sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/buoys_buoy_cam_filter_node.py':93:63
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/f'{base_topic}/buoy_filter/debug/filtered_contours' sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/buoys_buoy_cam_filter_node.py':95:67
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/f'{base_topic}/buoy_filter/debug/black_white' sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/buoys_buoy_cam_filter_node.py':91:61

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
/perception_buoy_cam_filter/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/perception_buoy_cam_filter/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/perception_buoy_cam_filter/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/perception_buoy_cam_filter/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/perception_buoy_cam_filter/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/perception_buoy_cam_filter/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/perception_buoy_cam_filter/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/f'{cam}/buoy_filter' virtuoso_msgs.srv.ImageBuoyFilter 'analysis/ros-sources/1710319119/buoys_buoy_cam_filter_node.py':67:51

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="/perception_buoy_cam_filter">
            <profiles>
                <profile ns="/" node="perception_buoy_cam_filter">
                    <topics publish="ALLOW">
                        <topic>/f'{base_topic}/buoy_filter/debug/full_contours'</topic>
                        <topic>/parameter_events</topic>
                        <topic>/f'{base_topic}/buoy_filter/debug/filtered_contours'</topic>
                        <topic>/rosout</topic>
                        <topic>/f'{base_topic}/buoy_filter/debug/black_white'</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/perception_buoy_cam_filter/get_parameter_types</service>
                        <service>/perception_buoy_cam_filter/set_parameters</service>
                        <service>/perception_buoy_cam_filter/list_parameters</service>
                        <service>/perception_buoy_cam_filter/get_parameters</service>
                        <service>/perception_buoy_cam_filter/set_parameters_atomically</service>
                        <service>/perception_buoy_cam_filter/get_type_description</service>
                        <service>/perception_buoy_cam_filter/describe_parameters</service>
                        <service>/f'{cam}/buoy_filter'</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/basic_PID

Publishers:

Topic Name Message Type System Location
rt/wamv/thrusters/left_rear_thrust_angle std_msgs.msg.Float32 'analysis/ros-sources/1710319119/deprecated_basic_pid_rotatin_thrusters.py':27:107
rt/wamv/thrusters/right_rear_thrust_cmd std_msgs.msg.Float32 'analysis/ros-sources/1710319119/deprecated_basic_pid_rotatin_thrusters.py':33:105
rt/wamv/thrusters/right_front_thrust_cmd std_msgs.msg.Float32 'analysis/ros-sources/1710319119/deprecated_basic_pid_rotatin_thrusters.py':31:107
rt/wamv/thrusters/left_rear_thrust_cmd std_msgs.msg.Float32 'analysis/ros-sources/1710319119/deprecated_basic_pid_rotatin_thrusters.py':32:103
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/wamv/thrusters/left_front_thrust_angle std_msgs.msg.Float32 'analysis/ros-sources/1710319119/deprecated_basic_pid_rotatin_thrusters.py':25:109
rt/wamv/thrusters/right_front_thrust_angle std_msgs.msg.Float32 'analysis/ros-sources/1710319119/deprecated_basic_pid_rotatin_thrusters.py':26:111
rt/wamv/thrusters/right_rear_thrust_angle std_msgs.msg.Float32 'analysis/ros-sources/1710319119/deprecated_basic_pid_rotatin_thrusters.py':28:109
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/wamv/thrusters/left_front_thrust_cmd std_msgs.msg.Float32 'analysis/ros-sources/1710319119/deprecated_basic_pid_rotatin_thrusters.py':30:105
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/localization/odometry nav_msgs.msg.Odometry self::odometry_callback 'analysis/ros-sources/1710319119/deprecated_basic_pid_rotatin_thrusters.py':36:14
rt/waypoint nav_msgs.msg.Odometry self::waypoint_callback 'analysis/ros-sources/1710319119/deprecated_basic_pid_rotatin_thrusters.py':43:14
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/basic_PID/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/basic_PID/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/basic_PID/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/basic_PID/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/basic_PID/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/basic_PID/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/basic_PID/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="/basic_PID">
            <profiles>
                <profile ns="/" node="basic_PID">
                    <topics publish="ALLOW">
                        <topic>/wamv/thrusters/left_rear_thrust_angle</topic>
                        <topic>/wamv/thrusters/right_rear_thrust_cmd</topic>
                        <topic>/wamv/thrusters/right_front_thrust_cmd</topic>
                        <topic>/wamv/thrusters/left_rear_thrust_cmd</topic>
                        <topic>/rosout</topic>
                        <topic>/wamv/thrusters/left_front_thrust_angle</topic>
                        <topic>/wamv/thrusters/right_front_thrust_angle</topic>
                        <topic>/wamv/thrusters/right_rear_thrust_angle</topic>
                        <topic>/parameter_events</topic>
                        <topic>/wamv/thrusters/left_front_thrust_cmd</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/localization/odometry</topic>
                        <topic>/waypoint</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/basic_PID/describe_parameters</service>
                        <service>/basic_PID/set_parameters</service>
                        <service>/basic_PID/get_type_description</service>
                        <service>/basic_PID/list_parameters</service>
                        <service>/basic_PID/get_parameter_types</service>
                        <service>/basic_PID/set_parameters_atomically</service>
                        <service>/basic_PID/get_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/perception_noise_filter

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
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/perception_noise_filter/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/perception_noise_filter/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/perception_noise_filter/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/perception_noise_filter/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/perception_noise_filter/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/f'{cam}/noise_filter' virtuoso_msgs.srv.ImageNoiseFilter 'analysis/ros-sources/1710319119/camera_processing_noise_filter_node.py':23:52
/perception_noise_filter/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/perception_noise_filter/describe_parameters rcl_interfaces/srv/DescribeParameters 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="/perception_noise_filter">
            <profiles>
                <profile ns="/" node="perception_noise_filter">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/perception_noise_filter/get_parameters</service>
                        <service>/perception_noise_filter/get_type_description</service>
                        <service>/perception_noise_filter/set_parameters</service>
                        <service>/perception_noise_filter/get_parameter_types</service>
                        <service>/perception_noise_filter/list_parameters</service>
                        <service>/f'{cam}/noise_filter'</service>
                        <service>/perception_noise_filter/set_parameters_atomically</service>
                        <service>/perception_noise_filter/describe_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/perception_classify_buoys

Publishers:

Topic Name Message Type System Location
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/buoys/classified virtuoso_msgs.msg.BoundingBoxArray 'analysis/ros-sources/1710319119/buoys_classify_buoys_node.py':29:99
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
rt/buoys/bounding_boxes virtuoso_msgs.msg.BoundingBoxArray self::record_boxes 'analysis/ros-sources/1710319119/buoys_classify_buoys_node.py':26:114
rt/wamv/sensors/cameras/front_left_camera/image_raw sensor_msgs.msg.Image self::record_image 'analysis/ros-sources/1710319119/buoys_classify_buoys_node.py':27:132
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/perception_classify_buoys/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/perception_classify_buoys/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/perception_classify_buoys/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/perception_classify_buoys/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/perception_classify_buoys/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/perception_classify_buoys/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/perception_classify_buoys/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="/perception_classify_buoys">
            <profiles>
                <profile ns="/" node="perception_classify_buoys">
                    <topics publish="ALLOW">
                        <topic>/buoys/classified</topic>
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/buoys/bounding_boxes</topic>
                        <topic>/wamv/sensors/cameras/front_left_camera/image_raw</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/perception_classify_buoys/set_parameters_atomically</service>
                        <service>/perception_classify_buoys/get_parameter_types</service>
                        <service>/perception_classify_buoys/get_type_description</service>
                        <service>/perception_classify_buoys/get_parameters</service>
                        <service>/perception_classify_buoys/describe_parameters</service>
                        <service>/perception_classify_buoys/list_parameters</service>
                        <service>/perception_classify_buoys/set_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/localization_debugger

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/controller/velocity_pid/targetForceX std_msgs.msg.Float32 self::vel_x_callback 'analysis/ros-sources/1710319119/virtuoso_localization_localization_debugger_node.py':51:14
rt/controller/basic_pid/targetForceX std_msgs.msg.Float32 self::basic_x_callback 'analysis/ros-sources/1710319119/virtuoso_localization_localization_debugger_node.py':41:14
rt/localization/odometry nav_msgs.msg.Odometry self::odom_callback 'analysis/ros-sources/1710319119/virtuoso_localization_localization_debugger_node.py':30:14
rt/controller/basic_pid/targetTorque std_msgs.msg.Float32 self::basic_torque_callback 'analysis/ros-sources/1710319119/virtuoso_localization_localization_debugger_node.py':36:14
rt/controller/navigateToPoint std_msgs.msg.Bool self::navigate_to_point_callback 'analysis/ros-sources/1710319119/virtuoso_localization_localization_debugger_node.py':61:14
rt/controller/velocity_pid/targetForceY std_msgs.msg.Float32 self::vel_y_callback 'analysis/ros-sources/1710319119/virtuoso_localization_localization_debugger_node.py':56:14
rt/controller/basic_pid/targetForceY std_msgs.msg.Float32 self::basic_y_callback 'analysis/ros-sources/1710319119/virtuoso_localization_localization_debugger_node.py':46:14
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/localization_debugger/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/localization_debugger/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/localization_debugger/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/localization_debugger/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/localization_debugger/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/localization_debugger/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/localization_debugger/describe_parameters rcl_interfaces/srv/DescribeParameters 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="/localization_debugger">
            <profiles>
                <profile ns="/" node="localization_debugger">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/controller/velocity_pid/targetForceX</topic>
                        <topic>/controller/basic_pid/targetForceX</topic>
                        <topic>/localization/odometry</topic>
                        <topic>/controller/basic_pid/targetTorque</topic>
                        <topic>/controller/navigateToPoint</topic>
                        <topic>/controller/velocity_pid/targetForceY</topic>
                        <topic>/controller/basic_pid/targetForceY</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/localization_debugger/get_parameter_types</service>
                        <service>/localization_debugger/list_parameters</service>
                        <service>/localization_debugger/get_parameters</service>
                        <service>/localization_debugger/set_parameters_atomically</service>
                        <service>/localization_debugger/set_parameters</service>
                        <service>/localization_debugger/get_type_description</service>
                        <service>/localization_debugger/describe_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/autonomy_safety_check

Publishers:

Topic Name Message Type System Location
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/navigation/station_keep std_msgs.msg.Empty 'analysis/ros-sources/1710319119/safety_check_safety_check_node.py':18:94
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/navigation/set_waypoints nav_msgs.msg.Path 'analysis/ros-sources/1710319119/safety_check_safety_check_node.py':17:83

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/navigation/success geometry_msgs.msg.PoseStamped self::nav_success 'analysis/ros-sources/1710319119/safety_check_safety_check_node.py':20:32
rt/localization/odometry nav_msgs.msg.Odometry self::update_robot_pose 'analysis/ros-sources/1710319119/safety_check_safety_check_node.py':24:38
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/buoys/bounding_boxes autoware_auto_perception_msgs.msg.BoundingBoxArray self::update_buoys 'analysis/ros-sources/1710319119/safety_check_safety_check_node.py':22:33

Service Servers:

Service Name Service Type System Location
/autonomy_safety_check/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/autonomy_safety_check/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/autonomy_safety_check/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/autonomy_safety_check/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/autonomy_safety_check/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/autonomy_safety_check/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/autonomy_safety_check/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="/autonomy_safety_check">
            <profiles>
                <profile ns="/" node="autonomy_safety_check">
                    <topics publish="ALLOW">
                        <topic>/navigation/station_keep</topic>
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                        <topic>/navigation/set_waypoints</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/navigation/success</topic>
                        <topic>/localization/odometry</topic>
                        <topic>/buoys/bounding_boxes</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/autonomy_safety_check/describe_parameters</service>
                        <service>/autonomy_safety_check/set_parameters</service>
                        <service>/autonomy_safety_check/list_parameters</service>
                        <service>/autonomy_safety_check/set_parameters_atomically</service>
                        <service>/autonomy_safety_check/get_parameter_types</service>
                        <service>/autonomy_safety_check/get_type_description</service>
                        <service>/autonomy_safety_check/get_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/test_set_path

Publishers:

Topic Name Message Type System Location
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/virtuoso_navigation/set_path nav_msgs.msg.Path 'analysis/ros-sources/1710319119/testing_waypoints.py':10:82
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_set_path/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/test_set_path/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/test_set_path/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/test_set_path/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/test_set_path/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/test_set_path/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/test_set_path/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="/test_set_path">
            <profiles>
                <profile ns="/" node="test_set_path">
                    <topics publish="ALLOW">
                        <topic>/virtuoso_navigation/set_path</topic>
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/test_set_path/get_parameters</service>
                        <service>/test_set_path/get_parameter_types</service>
                        <service>/test_set_path/set_parameters_atomically</service>
                        <service>/test_set_path/list_parameters</service>
                        <service>/test_set_path/describe_parameters</service>
                        <service>/test_set_path/get_type_description</service>
                        <service>/test_set_path/set_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/laser_to_pcd

Publishers:

Topic Name Message Type System Location
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/output sensor_msgs.msg.PointCloud2 'analysis/ros-sources/1710319119/virtuoso_sensors_laser_to_pcd_node.py':16:74
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/scan sensor_msgs.msg.LaserScan self::input_callback 'analysis/ros-sources/1710319119/virtuoso_sensors_laser_to_pcd_node.py':13:35
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

/test_controller_left

Publishers:

Topic Name Message Type System Location
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/controller/basic_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_left.py':27:107
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/controller/velocity_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_left.py':29:102
rt/controller/basic_pid/targetTorque std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_left.py':28:101
rt/controller/basic_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_left.py':26:107
rt/controller/velocity_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_left.py':30:102
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/navigation/navigateToPoint std_msgs.msg.Bool 'analysis/ros-sources/1710319119/testing_test_left.py':25:96
rt/controller/velocity_pid/targetTorque std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_left.py':31:102

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_left/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/test_controller_left/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/test_controller_left/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/test_controller_left/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/test_controller_left/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/test_controller_left/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/test_controller_left/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="/test_controller_left">
            <profiles>
                <profile ns="/" node="test_controller_left">
                    <topics publish="ALLOW">
                        <topic>/controller/basic_pid/targetForceY</topic>
                        <topic>/parameter_events</topic>
                        <topic>/controller/velocity_pid/targetForceX</topic>
                        <topic>/controller/basic_pid/targetTorque</topic>
                        <topic>/controller/basic_pid/targetForceX</topic>
                        <topic>/controller/velocity_pid/targetForceY</topic>
                        <topic>/rosout</topic>
                        <topic>/navigation/navigateToPoint</topic>
                        <topic>/controller/velocity_pid/targetTorque</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/test_controller_left/set_parameters_atomically</service>
                        <service>/test_controller_left/describe_parameters</service>
                        <service>/test_controller_left/get_type_description</service>
                        <service>/test_controller_left/set_parameters</service>
                        <service>/test_controller_left/get_parameter_types</service>
                        <service>/test_controller_left/get_parameters</service>
                        <service>/test_controller_left/list_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/occupancy_map_generator

Publishers:

Topic Name Message Type System Location
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/mapping/occupancy_map nav_msgs.msg.OccupancyGrid 'analysis/ros-sources/1710319119/virtuoso_mapping_occupancy_map_generator_node.py':48:55
rt/mapping/map_origin geometry_msgs.msg.Pose 'analysis/ros-sources/1710319119/virtuoso_mapping_occupancy_map_generator_node.py':53:43
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
rt/perception/lidar/voxels sensor_msgs.msg.PointCloud2 self::pointcloud_callback 'analysis/ros-sources/1710319119/virtuoso_mapping_occupancy_map_generator_node.py':46:81
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/occupancy_map_generator/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/occupancy_map_generator/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/occupancy_map_generator/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/occupancy_map_generator/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/occupancy_map_generator/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/occupancy_map_generator/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/occupancy_map_generator/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="/occupancy_map_generator">
            <profiles>
                <profile ns="/" node="occupancy_map_generator">
                    <topics publish="ALLOW">
                        <topic>/mapping/occupancy_map</topic>
                        <topic>/mapping/map_origin</topic>
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/perception/lidar/voxels</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/occupancy_map_generator/get_parameters</service>
                        <service>/occupancy_map_generator/get_type_description</service>
                        <service>/occupancy_map_generator/get_parameter_types</service>
                        <service>/occupancy_map_generator/set_parameters</service>
                        <service>/occupancy_map_generator/describe_parameters</service>
                        <service>/occupancy_map_generator/set_parameters_atomically</service>
                        <service>/occupancy_map_generator/list_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/autonomy_gymkhana

Publishers:

Topic Name Message Type System Location
rt/navigation/set_waypoints nav_msgs.msg.Path 'analysis/ros-sources/1710319119/gymkhana_gymkhana_node.py':21:83
rt/navigation/station_keep std_msgs.msg.Empty 'analysis/ros-sources/1710319119/gymkhana_gymkhana_node.py':22:94
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
rt/buoys/bounding_boxes autoware_auto_perception_msgs.msg.BoundingBoxArray self::update_buoys 'analysis/ros-sources/1710319119/gymkhana_gymkhana_node.py':26:33
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/navigation/success geometry_msgs.msg.PoseStamped self::nav_success 'analysis/ros-sources/1710319119/gymkhana_gymkhana_node.py':24:32
rt/localization/odometry nav_msgs.msg.Odometry self::update_robot_pose 'analysis/ros-sources/1710319119/gymkhana_gymkhana_node.py':28:38

Service Servers:

Service Name Service Type System Location
/autonomy_gymkhana/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/autonomy_gymkhana/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/autonomy_gymkhana/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/autonomy_gymkhana/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/autonomy_gymkhana/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/autonomy_gymkhana/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/autonomy_gymkhana/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="/autonomy_gymkhana">
            <profiles>
                <profile ns="/" node="autonomy_gymkhana">
                    <topics publish="ALLOW">
                        <topic>/navigation/set_waypoints</topic>
                        <topic>/navigation/station_keep</topic>
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/buoys/bounding_boxes</topic>
                        <topic>/navigation/success</topic>
                        <topic>/localization/odometry</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/autonomy_gymkhana/describe_parameters</service>
                        <service>/autonomy_gymkhana/get_type_description</service>
                        <service>/autonomy_gymkhana/get_parameters</service>
                        <service>/autonomy_gymkhana/get_parameter_types</service>
                        <service>/autonomy_gymkhana/set_parameters_atomically</service>
                        <service>/autonomy_gymkhana/set_parameters</service>
                        <service>/autonomy_gymkhana/list_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/heartbeat

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/wamv/heartbeat std_msgs.msg.String 'analysis/ros-sources/1710319119/heartbeat_main.py':22:80
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/wamv/sensors/gps/gps/fix sensor_msgs.msg.NavSatFix self::gps_sub_callback 'analysis/ros-sources/1710319119/heartbeat_main.py':14:113
rt/wamv/nova/mode std_msgs.msg.Int8 self::system_mode_sub_callback 'analysis/ros-sources/1710319119/heartbeat_main.py':15:114
rt/uav/status std_msgs.msg.Int8 self::uav_status_sub_callback 'analysis/ros-sources/1710319119/heartbeat_main.py':16:106

Service Servers:

Service Name Service Type System Location
/heartbeat/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/heartbeat/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/heartbeat/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/heartbeat/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/heartbeat/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/heartbeat/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/heartbeat/describe_parameters rcl_interfaces/srv/DescribeParameters 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="/heartbeat">
            <profiles>
                <profile ns="/" node="heartbeat">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/wamv/heartbeat</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/wamv/sensors/gps/gps/fix</topic>
                        <topic>/wamv/nova/mode</topic>
                        <topic>/uav/status</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/heartbeat/set_parameters</service>
                        <service>/heartbeat/list_parameters</service>
                        <service>/heartbeat/get_type_description</service>
                        <service>/heartbeat/get_parameter_types</service>
                        <service>/heartbeat/set_parameters_atomically</service>
                        <service>/heartbeat/get_parameters</service>
                        <service>/heartbeat/describe_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/f9p_gps_republish

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/wamv/sensors/gps/gps/fix sensor_msgs.msg.NavSatFix 'analysis/ros-sources/1710319119/virtuoso_sensors_f9p_gps_republish.py':32:92
rt/wamv/sensors/gps/gps/vel geometry_msgs.msg.TwistWithCovarianceStamped 'analysis/ros-sources/1710319119/virtuoso_sensors_f9p_gps_republish.py':38:112

Subscriptions:

Topic Name Message Type System Callback Function Location
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/ubx_nav_hp_pos_llh ublox_ubx_msgs.msg.UBXNavHPPosLLH self::gps_fix_callback 'analysis/ros-sources/1710319119/virtuoso_sensors_f9p_gps_republish.py':41:35
rt/ubx_nav_cov ublox_ubx_msgs.msg.UBXNavCov self::gps_cov_callback 'analysis/ros-sources/1710319119/virtuoso_sensors_f9p_gps_republish.py':46:35
rt/ubx_nav_vel_ned ublox_ubx_msgs.msg.UBXNavVelNED self::gps_vel_callback 'analysis/ros-sources/1710319119/virtuoso_sensors_f9p_gps_republish.py':51:35

Service Servers:

Service Name Service Type System Location
/f9p_gps_republish/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/f9p_gps_republish/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/f9p_gps_republish/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/f9p_gps_republish/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/f9p_gps_republish/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/f9p_gps_republish/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/f9p_gps_republish/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="/f9p_gps_republish">
            <profiles>
                <profile ns="/" node="f9p_gps_republish">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/wamv/sensors/gps/gps/fix</topic>
                        <topic>/wamv/sensors/gps/gps/vel</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/ubx_nav_hp_pos_llh</topic>
                        <topic>/ubx_nav_cov</topic>
                        <topic>/ubx_nav_vel_ned</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/f9p_gps_republish/describe_parameters</service>
                        <service>/f9p_gps_republish/list_parameters</service>
                        <service>/f9p_gps_republish/get_type_description</service>
                        <service>/f9p_gps_republish/set_parameters</service>
                        <service>/f9p_gps_republish/get_parameters</service>
                        <service>/f9p_gps_republish/get_parameter_types</service>
                        <service>/f9p_gps_republish/set_parameters_atomically</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/controller_basic_PID

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/controller/basic_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/virtuoso_controller_basic_pid_node.py':39:52
rt/controller/basic_pid/targetTorque std_msgs.msg.Float32 'analysis/ros-sources/1710319119/virtuoso_controller_basic_pid_node.py':41:52
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/controller/basic_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/virtuoso_controller_basic_pid_node.py':37:52

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/controller/navigateToPoint std_msgs.msg.Bool self::navigate_to_point_callback 'analysis/ros-sources/1710319119/virtuoso_controller_basic_pid_node.py':57:14
rt/controller/waypoint nav_msgs.msg.Odometry self::waypoint_callback 'analysis/ros-sources/1710319119/virtuoso_controller_basic_pid_node.py':52:14
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/localization/odometry nav_msgs.msg.Odometry self::odometry_callback 'analysis/ros-sources/1710319119/virtuoso_controller_basic_pid_node.py':45:14

Service Servers:

Service Name Service Type System Location
/controller_basic_PID/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/controller_basic_PID/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/controller_basic_PID/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/controller_basic_PID/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/controller_basic_PID/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/controller_basic_PID/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/controller_basic_PID/describe_parameters rcl_interfaces/srv/DescribeParameters 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="/controller_basic_PID">
            <profiles>
                <profile ns="/" node="controller_basic_PID">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/controller/basic_pid/targetForceY</topic>
                        <topic>/controller/basic_pid/targetTorque</topic>
                        <topic>/rosout</topic>
                        <topic>/controller/basic_pid/targetForceX</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/controller/navigateToPoint</topic>
                        <topic>/controller/waypoint</topic>
                        <topic>/localization/odometry</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/controller_basic_PID/set_parameters_atomically</service>
                        <service>/controller_basic_PID/get_parameter_types</service>
                        <service>/controller_basic_PID/set_parameters</service>
                        <service>/controller_basic_PID/get_type_description</service>
                        <service>/controller_basic_PID/list_parameters</service>
                        <service>/controller_basic_PID/get_parameters</service>
                        <service>/controller_basic_PID/describe_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/test_controller_yaw_left

Publishers:

Topic Name Message Type System Location
rt/controller/basic_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_yaw_left.py':27:107
rt/controller/basic_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_yaw_left.py':26:107
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/controller/basic_pid/targetTorque std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_yaw_left.py':28:101
rt/controller/velocity_pid/targetTorque std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_yaw_left.py':31:102
rt/controller/velocity_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_yaw_left.py':30:102
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/navigation/navigateToPoint std_msgs.msg.Bool 'analysis/ros-sources/1710319119/testing_test_yaw_left.py':25:96
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/controller/velocity_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_yaw_left.py':29:102

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_yaw_left/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/test_controller_yaw_left/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/test_controller_yaw_left/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/test_controller_yaw_left/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/test_controller_yaw_left/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/test_controller_yaw_left/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/test_controller_yaw_left/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="/test_controller_yaw_left">
            <profiles>
                <profile ns="/" node="test_controller_yaw_left">
                    <topics publish="ALLOW">
                        <topic>/controller/basic_pid/targetForceY</topic>
                        <topic>/controller/basic_pid/targetForceX</topic>
                        <topic>/parameter_events</topic>
                        <topic>/controller/basic_pid/targetTorque</topic>
                        <topic>/controller/velocity_pid/targetTorque</topic>
                        <topic>/controller/velocity_pid/targetForceY</topic>
                        <topic>/rosout</topic>
                        <topic>/navigation/navigateToPoint</topic>
                        <topic>/controller/velocity_pid/targetForceX</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/test_controller_yaw_left/list_parameters</service>
                        <service>/test_controller_yaw_left/set_parameters</service>
                        <service>/test_controller_yaw_left/get_parameter_types</service>
                        <service>/test_controller_yaw_left/set_parameters_atomically</service>
                        <service>/test_controller_yaw_left/describe_parameters</service>
                        <service>/test_controller_yaw_left/get_parameters</service>
                        <service>/test_controller_yaw_left/get_type_description</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/sensors_camera_info

Publishers:

Topic Name Message Type System Location
rt/f'{self.get_parameter("base_topic").value}/camera_info' sensor_msgs.msg.CameraInfo 'analysis/ros-sources/1710319119/virtuoso_sensors_camera_info_node.py':20:71
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
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
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/f'{self.get_parameter("base_topic").value}/empty_camera_info' sensor_msgs.msg.CameraInfo self::callback 'analysis/ros-sources/1710319119/virtuoso_sensors_camera_info_node.py':16:29

Service Servers:

Service Name Service Type System Location
/sensors_camera_info/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/sensors_camera_info/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/sensors_camera_info/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/sensors_camera_info/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/sensors_camera_info/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/sensors_camera_info/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/sensors_camera_info/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="/sensors_camera_info">
            <profiles>
                <profile ns="/" node="sensors_camera_info">
                    <topics publish="ALLOW">
                        <topic>/f'{self.get_parameter("base_topic").value}/camera_info'</topic>
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/f'{self.get_parameter("base_topic").value}/empty_camera_info'</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/sensors_camera_info/set_parameters_atomically</service>
                        <service>/sensors_camera_info/set_parameters</service>
                        <service>/sensors_camera_info/describe_parameters</service>
                        <service>/sensors_camera_info/get_type_description</service>
                        <service>/sensors_camera_info/get_parameters</service>
                        <service>/sensors_camera_info/list_parameters</service>
                        <service>/sensors_camera_info/get_parameter_types</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/perception_dock_stereo

Publishers:

Topic Name Message Type System Location
rt/perception/dock_stereo/left_cam_left sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/stereo_dock_stereo_node.py':50:59
rt/perception/stereo/debug/points sensor_msgs.msg.PointCloud2 'analysis/ros-sources/1710319119/stereo_dock_stereo_node.py':48:53
rt/perception/dock_stereo/left_cam_right sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/stereo_dock_stereo_node.py':52:60
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/perception/dock_stereo/right_cam_right sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/stereo_dock_stereo_node.py':56:61
rt/perception/dock_stereo/right_cam_left sensor_msgs.msg.Image 'analysis/ros-sources/1710319119/stereo_dock_stereo_node.py':54:60

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
/perception/dock_stereo virtuoso_msgs.srv.ImageDockStereo 'analysis/ros-sources/1710319119/stereo_dock_stereo_node.py':39:61
/perception_dock_stereo/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/perception_dock_stereo/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/perception_dock_stereo/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/perception_dock_stereo/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/perception_dock_stereo/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/perception_dock_stereo/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/perception_dock_stereo/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL

Service Clients:

Service Name Service Type System Location
/f'{cams[1]}/find_dock_posts' virtuoso_msgs.srv.ImageBuoyFilter 'analysis/ros-sources/1710319119/stereo_dock_stereo_node.py':44:72
/f'{cams[0]}/find_dock_posts' virtuoso_msgs.srv.ImageBuoyFilter 'analysis/ros-sources/1710319119/stereo_dock_stereo_node.py':42:72

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="/perception_dock_stereo">
            <profiles>
                <profile ns="/" node="perception_dock_stereo">
                    <topics publish="ALLOW">
                        <topic>/perception/dock_stereo/left_cam_left</topic>
                        <topic>/perception/stereo/debug/points</topic>
                        <topic>/perception/dock_stereo/left_cam_right</topic>
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/perception/dock_stereo/right_cam_right</topic>
                        <topic>/perception/dock_stereo/right_cam_left</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/perception/dock_stereo</service>
                        <service>/perception_dock_stereo/set_parameters</service>
                        <service>/perception_dock_stereo/get_parameters</service>
                        <service>/perception_dock_stereo/get_type_description</service>
                        <service>/perception_dock_stereo/list_parameters</service>
                        <service>/perception_dock_stereo/describe_parameters</service>
                        <service>/perception_dock_stereo/set_parameters_atomically</service>
                        <service>/perception_dock_stereo/get_parameter_types</service>
                    </services>
                    <services request="ALLOW">
                        <service>/f'{cams[1]}/find_dock_posts'</service>
                        <service>/f'{cams[0]}/find_dock_posts'</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/autonomy_channel_nav

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/navigation/set_waypoints nav_msgs.msg.Path 'analysis/ros-sources/1710319119/channel_nav_channel_nav_node.py':24:83
rt/navigation/station_keep std_msgs.msg.Empty 'analysis/ros-sources/1710319119/channel_nav_channel_nav_node.py':26:94
rt/navigation/translate geometry_msgs.msg.Point 'analysis/ros-sources/1710319119/channel_nav_channel_nav_node.py':25:81

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/navigation/success geometry_msgs.msg.PoseStamped self::nav_success_callback 'analysis/ros-sources/1710319119/channel_nav_channel_nav_node.py':28:41
rt/localization/odometry nav_msgs.msg.Odometry self::odom_callback 'analysis/ros-sources/1710319119/channel_nav_channel_nav_node.py':30:34
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

Service Clients:

Service Name Service Type System Location
/channel virtuoso_msgs.srv.Channel 'analysis/ros-sources/1710319119/channel_nav_channel_nav_node.py':36:67
/rotate virtuoso_msgs.srv.Rotate 'analysis/ros-sources/1710319119/channel_nav_channel_nav_node.py':39:64

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="/autonomy_channel_nav">
            <profiles>
                <profile ns="/" node="autonomy_channel_nav">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/navigation/set_waypoints</topic>
                        <topic>/navigation/station_keep</topic>
                        <topic>/navigation/translate</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/navigation/success</topic>
                        <topic>/localization/odometry</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/autonomy_channel_nav/list_parameters</service>
                        <service>/autonomy_channel_nav/set_parameters_atomically</service>
                        <service>/autonomy_channel_nav/get_parameter_types</service>
                        <service>/autonomy_channel_nav/set_parameters</service>
                        <service>/autonomy_channel_nav/get_type_description</service>
                        <service>/autonomy_channel_nav/describe_parameters</service>
                        <service>/autonomy_channel_nav/get_parameters</service>
                    </services>
                    <services request="ALLOW">
                        <service>/channel</service>
                        <service>/rotate</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/test_controller_backward

Publishers:

Topic Name Message Type System Location
rt/controller/velocity_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_backward.py':30:102
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/controller/velocity_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_backward.py':29:102
rt/controller/basic_pid/targetTorque std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_backward.py':28:101
rt/controller/basic_pid/targetForceY std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_backward.py':27:107
rt/controller/velocity_pid/targetTorque std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_backward.py':31:102
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/controller/basic_pid/targetForceX std_msgs.msg.Float32 'analysis/ros-sources/1710319119/testing_test_backward.py':26:107
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/navigation/navigateToPoint std_msgs.msg.Bool 'analysis/ros-sources/1710319119/testing_test_backward.py':25:96

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_backward/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/test_controller_backward/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/test_controller_backward/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/test_controller_backward/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/test_controller_backward/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/test_controller_backward/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/test_controller_backward/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="/test_controller_backward">
            <profiles>
                <profile ns="/" node="test_controller_backward">
                    <topics publish="ALLOW">
                        <topic>/controller/velocity_pid/targetForceY</topic>
                        <topic>/controller/velocity_pid/targetForceX</topic>
                        <topic>/controller/basic_pid/targetTorque</topic>
                        <topic>/controller/basic_pid/targetForceY</topic>
                        <topic>/controller/velocity_pid/targetTorque</topic>
                        <topic>/parameter_events</topic>
                        <topic>/controller/basic_pid/targetForceX</topic>
                        <topic>/rosout</topic>
                        <topic>/navigation/navigateToPoint</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/test_controller_backward/describe_parameters</service>
                        <service>/test_controller_backward/set_parameters_atomically</service>
                        <service>/test_controller_backward/get_parameter_types</service>
                        <service>/test_controller_backward/set_parameters</service>
                        <service>/test_controller_backward/get_type_description</service>
                        <service>/test_controller_backward/get_parameters</service>
                        <service>/test_controller_backward/list_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/test_publisher

Publishers:

Topic Name Message Type System Location
rt/wamv/sensors/gps/gps/fix sensor_msgs.msg.NavSatFix 'analysis/ros-sources/1710319119/testing_test_data_publisher.py':14:91
rt/wamv/sensors/gps/gps/fix_velocity geometry_msgs.msg.Vector3Stamped 'analysis/ros-sources/1710319119/testing_test_data_publisher.py':15:105
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/wamv/sensors/imu/imu/data sensor_msgs.msg.Imu 'analysis/ros-sources/1710319119/testing_test_data_publisher.py':13:85
rt/parameter_events 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_publisher/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/test_publisher/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/test_publisher/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/test_publisher/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/test_publisher/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/test_publisher/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/test_publisher/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="/test_publisher">
            <profiles>
                <profile ns="/" node="test_publisher">
                    <topics publish="ALLOW">
                        <topic>/wamv/sensors/gps/gps/fix</topic>
                        <topic>/wamv/sensors/gps/gps/fix_velocity</topic>
                        <topic>/rosout</topic>
                        <topic>/wamv/sensors/imu/imu/data</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/test_publisher/get_parameters</service>
                        <service>/test_publisher/get_parameter_types</service>
                        <service>/test_publisher/list_parameters</service>
                        <service>/test_publisher/set_parameters_atomically</service>
                        <service>/test_publisher/describe_parameters</service>
                        <service>/test_publisher/set_parameters</service>
                        <service>/test_publisher/get_type_description</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/acoustic_perception

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
rt/navigation/set_waypoints nav_msgs.msg.Path 'analysis/ros-sources/1710319119/acoustic_perception_acoustic_perception_node.py':35:83

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/vrx/task/info ros_gz_interfaces.msg.ParamVec self::task_info_callback 'analysis/ros-sources/1710319119/acoustic_perception_acoustic_perception_node.py':29:39
rt/wamv/sensors/acoustics/receiver/range_bearing ros_gz_interfaces.msg.ParamVec self::pinger_callback 'analysis/ros-sources/1710319119/acoustic_perception_acoustic_perception_node.py':32:36
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/acoustic_perception/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/acoustic_perception/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/acoustic_perception/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/acoustic_perception/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/acoustic_perception/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/acoustic_perception/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/acoustic_perception/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="/acoustic_perception">
            <profiles>
                <profile ns="/" node="acoustic_perception">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                        <topic>/navigation/set_waypoints</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/vrx/task/info</topic>
                        <topic>/wamv/sensors/acoustics/receiver/range_bearing</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/acoustic_perception/describe_parameters</service>
                        <service>/acoustic_perception/list_parameters</service>
                        <service>/acoustic_perception/get_type_description</service>
                        <service>/acoustic_perception/get_parameters</service>
                        <service>/acoustic_perception/set_parameters_atomically</service>
                        <service>/acoustic_perception/get_parameter_types</service>
                        <service>/acoustic_perception/set_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/navigation_translate

Publishers:

Topic Name Message Type System Location
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/navigation/set_trans_waypoints nav_msgs.msg.Path 'analysis/ros-sources/1710319119/virtuoso_navigation_translate_node.py':24:93
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/navigation/translate_success geometry_msgs.msg.Point 'analysis/ros-sources/1710319119/virtuoso_navigation_translate_node.py':25:14

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/navigation/success geometry_msgs.msg.PoseStamped self::nav_success_callback 'analysis/ros-sources/1710319119/virtuoso_navigation_translate_node.py':21:41
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/navigation/translate geometry_msgs.msg.Point self::execute_callback 'analysis/ros-sources/1710319119/virtuoso_navigation_translate_node.py':19:37

Service Servers:

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

/perception_downscale

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
/perception_downscale/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/perception_downscale/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/perception_downscale/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/perception_downscale/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/perception_downscale/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/perception_downscale/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/perception_downscale/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/f'{cam}/resize' virtuoso_msgs.srv.ImageResize 'analysis/ros-sources/1710319119/camera_processing_resize_node.py':22:46

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="/perception_downscale">
            <profiles>
                <profile ns="/" node="perception_downscale">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/perception_downscale/set_parameters_atomically</service>
                        <service>/perception_downscale/get_parameter_types</service>
                        <service>/perception_downscale/get_type_description</service>
                        <service>/perception_downscale/set_parameters</service>
                        <service>/perception_downscale/describe_parameters</service>
                        <service>/perception_downscale/get_parameters</service>
                        <service>/perception_downscale/list_parameters</service>
                        <service>/f'{cam}/resize'</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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