LiSA | ROS Application Report

Computational Graph

Analysis Results

Lines of code: 220
Nodes: 2
Topics: 6, 3 of which are system-related
Services: 15, 14 of which are system-related
Actions: 0
Publishers: 8, 6 of which are system-related
Subscriptions: 5, 2 of which are system-related
Service Servers: 15, 14 of which are system-related
Service Clients: 1
Action Servers: 0
Action Clients: 0

Nodes

/vision_node

Publishers:

Topic Name	Message Type	System	Location
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/move	std_msgs.msg.String		'analysis/ros-sources/1710322656/vision_node.py':40:4
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/vision	std_msgs.msg.String		self::vision_callback	'analysis/ros-sources/1710322656/vision_node.py':18:4
rt/finish	std_msgs.msg.String		self::finish_callback	'analysis/ros-sources/1710322656/vision_node.py':29:4

Service Servers:

Service Name	Service Type	System	Location
/vision_node/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/vision_node/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/vision_node/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/vision_node/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/vision_node/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/vision_node/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/vision_node/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/registration	custom_interfaces.srv.Registration		'analysis/ros-sources/1710322656/vision_node.py':48:4

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="/vision_node">
            <profiles>
                <profile ns="/" node="vision_node">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/move</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/vision</topic>
                        <topic>/finish</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/vision_node/get_parameters</service>
                        <service>/vision_node/list_parameters</service>
                        <service>/vision_node/set_parameters_atomically</service>
                        <service>/vision_node/describe_parameters</service>
                        <service>/vision_node/set_parameters</service>
                        <service>/vision_node/get_parameter_types</service>
                        <service>/vision_node/get_type_description</service>
                        <service>/registration</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/collector_node

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/finish	std_msgs.msg.String		'analysis/ros-sources/1710322656/collector_node.py':23:4

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
rt/move	std_msgs.msg.String		self::move_callback	'analysis/ros-sources/1710322656/collector_node.py':32:4
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

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

Service Clients:

Service Name	Service Type	System	Location
/registration	custom_interfaces.srv.Registration		'analysis/ros-sources/1710322656/collector_node.py':42:4

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="/collector_node">
            <profiles>
                <profile ns="/" node="collector_node">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                        <topic>/finish</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/move</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/collector_node/list_parameters</service>
                        <service>/collector_node/get_type_description</service>
                        <service>/collector_node/set_parameters_atomically</service>
                        <service>/collector_node/describe_parameters</service>
                        <service>/collector_node/set_parameters</service>
                        <service>/collector_node/get_parameters</service>
                        <service>/collector_node/get_parameter_types</service>
                    </services>
                    <services request="ALLOW">
                        <service>/registration</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

Legend:

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

Lisa Analysis