Computational Graph

Analysis Results

  • Lines of code: 545
  • Nodes: 8
  • Topics: 14, 3 of which are system-related
  • Services: 56, 56 of which are system-related
  • Actions: 0
  • Publishers: 33, 24 of which are system-related
  • Subscriptions: 20, 8 of which are system-related
  • Service Servers: 56, 56 of which are system-related
  • Service Clients: 0
  • Action Servers: 0
  • Action Clients: 0

Nodes

/plotter_node

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
rt/scan sensor_msgs.msg.LaserScan self::cmd_scan_callback 'analysis/ros-sources/1710347539/my_package_plotter_node.py':28:102

Service Servers:

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

/client_node

Publishers:

Topic Name Message Type System Location
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/IsClientRaceOn std_msgs.msg.Bool 'analysis/ros-sources/1710347539/client_client_node.py':22:77
rt/IsClientConnected std_msgs.msg.Bool 'analysis/ros-sources/1710347539/client_client_node.py':17:85
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/IsAppRaceOn std_msgs.msg.Bool self::getMessageRace 'analysis/ros-sources/1710347539/client_client_node.py':25:99

Service Servers:

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

/driver

Publishers:

Topic Name Message Type System Location
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/motorSpeed std_msgs.msg.Float32 'analysis/ros-sources/1710347539/hardware_nav_v1_driver.py':24:77
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/servoSteer std_msgs.msg.Float32 'analysis/ros-sources/1710347539/hardware_nav_v1_driver.py':23:77
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/LidarBrain sensor_msgs.msg.LaserScan 'analysis/ros-sources/1710347539/hardware_nav_v1_driver.py':38:85

Subscriptions:

Topic Name Message Type System Callback Function Location
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/BrainDrivingCommand interfaces.msg.MonAckermannDrive self::send_driving_command 'analysis/ros-sources/1710347539/hardware_nav_v1_driver.py':39:137
rt/LidarScanPreprocessed sensor_msgs.msg.LaserScan self::__cmd_scan_callback 'analysis/ros-sources/1710347539/hardware_nav_v1_driver.py':26:120

Service Servers:

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

/motor

Publishers:

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

Subscriptions:

Topic Name Message Type System Callback Function Location
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/motorSpeed std_msgs.msg.Float32 self::getMotorSpeed 'analysis/ros-sources/1710347539/hardware_nav_v1_motor.py':18:107

Service Servers:

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

/communication_node

Publishers:

Topic Name Message Type System Location
rt/IsRaceOn std_msgs.msg.Bool 'analysis/ros-sources/1710347539/my_package_communication_node.py':19:71
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/IsConnected std_msgs.msg.Bool 'analysis/ros-sources/1710347539/my_package_communication_node.py':14:79
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/IsClientConnected std_msgs.msg.Bool self::getMessageConnexion 'analysis/ros-sources/1710347539/my_package_communication_node.py':27:115
rt/IsClientRaceOn std_msgs.msg.Bool self::getMessageRace 'analysis/ros-sources/1710347539/my_package_communication_node.py':26:102
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

/brain_node

Publishers:

Topic Name Message Type System Location
rt/BrainDrivingCommand interfaces.msg.MonAckermannDrive 'analysis/ros-sources/1710347539/my_package_brain_node_MTD.py':22:100
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/IsRaceOn std_msgs.msg.Bool self::getMessageRace 'analysis/ros-sources/1710347539/my_package_brain_node_MTD.py':20:97
rt/LidarBrain sensor_msgs.msg.LaserScan self::execute_callback 'analysis/ros-sources/1710347539/my_package_brain_node_MTD.py':24:106
rt/IsConnected std_msgs.msg.Bool self::getMessageConnexion 'analysis/ros-sources/1710347539/my_package_brain_node_MTD.py':19:110
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

/lidar_preprocessing_node

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/LidarScanPreprocessed sensor_msgs.msg.LaserScan 'analysis/ros-sources/1710347539/my_package_lidar_preprocessing.py':25:94
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::cmd_scan_callback 'analysis/ros-sources/1710347539/my_package_lidar_preprocessing.py':29:102
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

/servo

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/servoSteer std_msgs.msg.Float32 self::getServoSteer 'analysis/ros-sources/1710347539/hardware_nav_v1_servo.py':20:106
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

Legend:

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