Computational Graph

Analysis Results

  • Lines of code: 849
  • Nodes: 5
  • Topics: 8, 3 of which are system-related
  • Services: 38, 35 of which are system-related
  • Actions: 0
  • Publishers: 18, 15 of which are system-related
  • Subscriptions: 13, 5 of which are system-related
  • Service Servers: 35, 35 of which are system-related
  • Service Clients: 3
  • Action Servers: 0
  • Action Clients: 0

Nodes

/mechaship_classify_node

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/Wall mechaship_interfaces.msg.ClassificationArray 'analysis/ros-sources/1710322416/mechaship_classify_node.py':86:8
rt/Buoy mechaship_interfaces.msg.ClassificationArray 'analysis/ros-sources/1710322416/mechaship_classify_node.py':83:8

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::listener_callback 'analysis/ros-sources/1710322416/mechaship_classify_node.py':78:8

Service Servers:

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

/mechaship_detect_sub_node

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
rt/DetectionArray mechaship_interfaces.msg.DetectionArray self::detection_listener_callback 'analysis/ros-sources/1710322416/mechaship_detect_sub_node.py':17:8
rt/Image sensor_msgs.msg.Image self::image_listener_callback 'analysis/ros-sources/1710322416/mechaship_detect_sub_node.py':14:8
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

/mechaship_navigation2_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
rt/DetectionArray mechaship_interfaces.msg.DetectionArray self::detection_listener_callback 'analysis/ros-sources/1710322416/mechaship_navigation2_node.py':104:8
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/scan sensor_msgs.msg.LaserScan self::scan_listener_callback 'analysis/ros-sources/1710322416/mechaship_navigation2_node.py':100:8

Service Servers:

Service Name Service Type System Location
/mechaship_navigation2_node/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/mechaship_navigation2_node/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/mechaship_navigation2_node/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/mechaship_navigation2_node/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/mechaship_navigation2_node/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/mechaship_navigation2_node/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/mechaship_navigation2_node/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL

Service Clients:

Service Name Service Type System Location
/actuators/key/set mechaship_interfaces.srv.Key 'analysis/ros-sources/1710322416/mechaship_navigation2_node.py':116:75
/actuators/throttle/set_percentage mechaship_interfaces.srv.ThrottlePercentage 'analysis/ros-sources/1710322416/mechaship_navigation2_node.py':117:8
/set_color mechaship_interfaces.srv.RGBColor 'analysis/ros-sources/1710322416/mechaship_navigation2_node.py':120:73

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="/mechaship_navigation2_node">
            <profiles>
                <profile ns="/" node="mechaship_navigation2_node">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/DetectionArray</topic>
                        <topic>/scan</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/mechaship_navigation2_node/describe_parameters</service>
                        <service>/mechaship_navigation2_node/get_parameters</service>
                        <service>/mechaship_navigation2_node/set_parameters</service>
                        <service>/mechaship_navigation2_node/get_type_description</service>
                        <service>/mechaship_navigation2_node/set_parameters_atomically</service>
                        <service>/mechaship_navigation2_node/list_parameters</service>
                        <service>/mechaship_navigation2_node/get_parameter_types</service>
                    </services>
                    <services request="ALLOW">
                        <service>/actuators/key/set</service>
                        <service>/actuators/throttle/set_percentage</service>
                        <service>/set_color</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/mechaship_classify_sub_node

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/Wall mechaship_interfaces.msg.ClassificationArray self::wall_listener_callback 'analysis/ros-sources/1710322416/mechaship_classify_sub_node.py':51:8
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/Buoy mechaship_interfaces.msg.ClassificationArray self::buoy_listener_callback 'analysis/ros-sources/1710322416/mechaship_classify_sub_node.py':45:8

Service Servers:

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

/mechaship_detect_node

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/DetectionArray mechaship_interfaces.msg.DetectionArray 'analysis/ros-sources/1710322416/mechaship_detect_node.py':125:8

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/Image sensor_msgs.msg.Image self::listener_callback 'analysis/ros-sources/1710322416/mechaship_detect_node.py':119:8
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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