Computational Graph

Analysis Results

  • Lines of code: 543
  • Nodes: 7
  • Topics: 12, 3 of which are system-related
  • Services: 50, 49 of which are system-related
  • Actions: 0
  • Publishers: 28, 21 of which are system-related
  • Subscriptions: 15, 7 of which are system-related
  • Service Servers: 50, 49 of which are system-related
  • Service Clients: 2
  • Action Servers: 0
  • Action Clients: 0

Nodes

/vehicle_simulator

Publishers:

Topic Name Message Type System Location
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/vehicle_pose geometry_msgs.msg.PoseStamped 'analysis/ros-sources/1710345314/gps_nav_vehicle_simulator.py':32:78
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
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/vehicle_command_twist geometry_msgs.msg.Twist self::vehicle_command_twist_callback 'analysis/ros-sources/1710345314/gps_nav_vehicle_simulator.py':24:8
rt/vehicle_command_ackermann ackermann_msgs.msg.AckermannDriveStamped self::vehicle_command_ackermann_callback 'analysis/ros-sources/1710345314/gps_nav_vehicle_simulator.py':28:8

Service Servers:

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

/motion_spec_provider

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/look_ahead_specs gps_nav_interfaces.msg.LookAheadSpecs 'analysis/ros-sources/1710345314/gps_nav_motion_spec_provider.py':14:86
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
/motion_spec_provider/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/motion_spec_provider/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/motion_spec_provider/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/motion_spec_provider/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/motion_spec_provider/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/motion_spec_provider/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/motion_spec_provider/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="/motion_spec_provider">
            <profiles>
                <profile ns="/" node="motion_spec_provider">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/look_ahead_specs</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/motion_spec_provider/get_parameters</service>
                        <service>/motion_spec_provider/get_type_description</service>
                        <service>/motion_spec_provider/list_parameters</service>
                        <service>/motion_spec_provider/set_parameters</service>
                        <service>/motion_spec_provider/describe_parameters</service>
                        <service>/motion_spec_provider/get_parameter_types</service>
                        <service>/motion_spec_provider/set_parameters_atomically</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/goal_pose_visualizer

Publishers:

Topic Name Message Type System Location
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/look_ahead_pose geometry_msgs.msg.PoseStamped 'analysis/ros-sources/1710345314/gps_nav_goal_pose_visualizer.py':23:45
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/closest_point geometry_msgs.msg.PointStamped 'analysis/ros-sources/1710345314/gps_nav_goal_pose_visualizer.py':19:44

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/current_goal_pose gps_nav_interfaces.msg.CurrentGoalPose self::goal_pose_callback 'analysis/ros-sources/1710345314/gps_nav_goal_pose_visualizer.py':15:76
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

/route_pose_visualizer

Publishers:

Topic Name Message Type System Location
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/route_pose_viz visualization_msgs.msg.MarkerArray 'analysis/ros-sources/1710345314/gps_nav_route_pose_visualizer.py':35:103
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL

Subscriptions:

Topic Name Message Type System Callback Function Location
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

Service Clients:

Service Name Service Type System Location
/get_route_poses gps_nav_interfaces.srv.GetRoutePoses 'analysis/ros-sources/1710345314/gps_nav_route_pose_visualizer.py':26:70

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="/route_pose_visualizer">
            <profiles>
                <profile ns="/" node="route_pose_visualizer">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/route_pose_viz</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/route_pose_visualizer/list_parameters</service>
                        <service>/route_pose_visualizer/get_type_description</service>
                        <service>/route_pose_visualizer/get_parameters</service>
                        <service>/route_pose_visualizer/set_parameters_atomically</service>
                        <service>/route_pose_visualizer/describe_parameters</service>
                        <service>/route_pose_visualizer/set_parameters</service>
                        <service>/route_pose_visualizer/get_parameter_types</service>
                    </services>
                    <services request="ALLOW">
                        <service>/get_route_poses</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/route_pose_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
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
/route_pose_generator/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/route_pose_generator/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/route_pose_generator/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/route_pose_generator/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/route_pose_generator/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/get_route_poses gps_nav_interfaces.srv.GetRoutePoses 'analysis/ros-sources/1710345314/gps_nav_route_pose_provider.py':17:102
/route_pose_generator/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/route_pose_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="/route_pose_generator">
            <profiles>
                <profile ns="/" node="route_pose_generator">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/route_pose_generator/set_parameters_atomically</service>
                        <service>/route_pose_generator/list_parameters</service>
                        <service>/route_pose_generator/set_parameters</service>
                        <service>/route_pose_generator/get_parameters</service>
                        <service>/route_pose_generator/get_type_description</service>
                        <service>/get_route_poses</service>
                        <service>/route_pose_generator/get_parameter_types</service>
                        <service>/route_pose_generator/describe_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/carrot_creator

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
rt/current_goal_pose gps_nav_interfaces.msg.CurrentGoalPose 'analysis/ros-sources/1710345314/gps_nav_goal_pose_creator.py':37:52

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/vehicle_pose geometry_msgs.msg.PoseStamped self::vehicle_pose_callback 'analysis/ros-sources/1710345314/gps_nav_goal_pose_creator.py':29:70
rt/look_ahead_specs gps_nav_interfaces.msg.LookAheadSpecs self::look_ahead_specs_callback 'analysis/ros-sources/1710345314/gps_nav_goal_pose_creator.py':33:82
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

Service Clients:

Service Name Service Type System Location
/get_route_poses gps_nav_interfaces.srv.GetRoutePoses 'analysis/ros-sources/1710345314/gps_nav_goal_pose_creator.py':19:70

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="/carrot_creator">
            <profiles>
                <profile ns="/" node="carrot_creator">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                        <topic>/current_goal_pose</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/vehicle_pose</topic>
                        <topic>/look_ahead_specs</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/carrot_creator/describe_parameters</service>
                        <service>/carrot_creator/list_parameters</service>
                        <service>/carrot_creator/set_parameters</service>
                        <service>/carrot_creator/set_parameters_atomically</service>
                        <service>/carrot_creator/get_parameters</service>
                        <service>/carrot_creator/get_type_description</service>
                        <service>/carrot_creator/get_parameter_types</service>
                    </services>
                    <services request="ALLOW">
                        <service>/get_route_poses</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/vehicle_controller

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
rt/vehicle_command_ackermann ackermann_msgs.msg.AckermannDriveStamped 'analysis/ros-sources/1710345314/gps_nav_vehicle_controller.py':29:101

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/e_stop std_msgs.msg.Int8 self::e_stop_callback 'analysis/ros-sources/1710345314/gps_nav_vehicle_controller.py':27:94
rt/vehicle_pose geometry_msgs.msg.PoseStamped self::vehicle_pose_callback 'analysis/ros-sources/1710345314/gps_nav_vehicle_controller.py':21:112
rt/current_goal_pose gps_nav_interfaces.msg.CurrentGoalPose self::current_goal_pose_callback 'analysis/ros-sources/1710345314/gps_nav_vehicle_controller.py':23:8
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/vehicle_controller/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/vehicle_controller/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/vehicle_controller/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/vehicle_controller/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/vehicle_controller/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/vehicle_controller/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/vehicle_controller/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="/vehicle_controller">
            <profiles>
                <profile ns="/" node="vehicle_controller">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/vehicle_command_ackermann</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/e_stop</topic>
                        <topic>/vehicle_pose</topic>
                        <topic>/current_goal_pose</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/vehicle_controller/set_parameters_atomically</service>
                        <service>/vehicle_controller/get_type_description</service>
                        <service>/vehicle_controller/get_parameter_types</service>
                        <service>/vehicle_controller/list_parameters</service>
                        <service>/vehicle_controller/set_parameters</service>
                        <service>/vehicle_controller/describe_parameters</service>
                        <service>/vehicle_controller/get_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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