LiSA | ROS Application Report

Computational Graph

Analysis Results

Lines of code: 101
Nodes: 2
Topics: 3, 3 of which are system-related
Services: 14, 14 of which are system-related
Actions: 1
Publishers: 6, 6 of which are system-related
Subscriptions: 2, 2 of which are system-related
Service Servers: 14, 14 of which are system-related
Service Clients: 0
Action Servers: 1
Action Clients: 1

Nodes

/minimal_action_client

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

Service Clients:

No Service Clients on this Node

Action Clients:

Action Name	Action Type	System	Location
/fibonacci	example_interfaces.action.Fibonacci		'analysis/ros-sources/1710322362/client.py':27:71

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

/minimal_action_server

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/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
/minimal_action_server/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/minimal_action_server/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/minimal_action_server/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/minimal_action_server/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/minimal_action_server/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/minimal_action_server/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/minimal_action_server/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:

Action Name	Action Type	System	Location
/fibonacci	example_interfaces.action.Fibonacci		'analysis/ros-sources/1710322362/server.py':31:48

Generated policy.xml

Download

<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<policy version="0.2.0">
    <enclaves>
        <enclave path="/minimal_action_server">
            <profiles>
                <profile ns="/" node="minimal_action_server">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/minimal_action_server/set_parameters_atomically</service>
                        <service>/minimal_action_server/list_parameters</service>
                        <service>/minimal_action_server/set_parameters</service>
                        <service>/minimal_action_server/describe_parameters</service>
                        <service>/minimal_action_server/get_type_description</service>
                        <service>/minimal_action_server/get_parameter_types</service>
                        <service>/minimal_action_server/get_parameters</service>
                    </services>
                    <actions execute="ALLOW">
                        <action>/fibonacci</action>
                    </actions>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

Legend:

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

Lisa Analysis