Computational Graph

Analysis Results

  • Lines of code: 1947
  • Nodes: 15
  • Topics: 28, 3 of which are system-related
  • Services: 113, 105 of which are system-related
  • Actions: 0
  • Publishers: 71, 45 of which are system-related
  • Subscriptions: 33, 15 of which are system-related
  • Service Servers: 111, 105 of which are system-related
  • Service Clients: 7
  • Action Servers: 0
  • Action Clients: 0

Nodes

/encoder_publisher

Publishers:

Topic Name Message Type System Location
rt/chessboard/encoder std_msgs.msg.Float32 'analysis/ros-sources/1710347721/scripts_encoder_dynamixel.py':99:82
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
/encoder_publisher/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/encoder_publisher/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/encoder_publisher/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/encoder_publisher/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/encoder_publisher/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/encoder_publisher/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/encoder_publisher/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="/encoder_publisher">
            <profiles>
                <profile ns="/" node="encoder_publisher">
                    <topics publish="ALLOW">
                        <topic>/chessboard/encoder</topic>
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/encoder_publisher/list_parameters</service>
                        <service>/encoder_publisher/get_parameter_types</service>
                        <service>/encoder_publisher/set_parameters</service>
                        <service>/encoder_publisher/describe_parameters</service>
                        <service>/encoder_publisher/get_type_description</service>
                        <service>/encoder_publisher/get_parameters</service>
                        <service>/encoder_publisher/set_parameters_atomically</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/camera_publisher_sim

Publishers:

Topic Name Message Type System Location
rt/chessboard/side/ImgPose module89.msg.ChessboardImgPose 'analysis/ros-sources/1710347721/scripts_camera_sim.py':73:100
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/chessboard/top/ImgPose module89.msg.ChessboardImgPose 'analysis/ros-sources/1710347721/scripts_camera_sim.py':72:98
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

Service Servers:

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

/fake_camera_publisher

Publishers:

Topic Name Message Type System Location
rt/image sensor_msgs.msg.Image 'analysis/ros-sources/1710347721/scripts_camera_fake.py':21:67
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/info sensor_msgs.msg.CameraInfo 'analysis/ros-sources/1710347721/scripts_camera_fake.py':22:76
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

Service Servers:

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

/chessboard_classifier

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/viz/top_cnn sensor_msgs.msg.Image 'analysis/ros-sources/1710347721/scripts_chessboard_classifier.py':213:78
rt/chessboard/fen std_msgs.msg.String 'analysis/ros-sources/1710347721/scripts_chessboard_classifier.py':210:73
rt/chessboard/fen_binary std_msgs.msg.UInt8MultiArray 'analysis/ros-sources/1710347721/scripts_chessboard_classifier.py':211:97
rt/chessboard/fen_color std_msgs.msg.UInt8MultiArray 'analysis/ros-sources/1710347721/scripts_chessboard_classifier.py':212:95
rt/viz/side_cnn sensor_msgs.msg.Image 'analysis/ros-sources/1710347721/scripts_chessboard_classifier.py':214:80
rt/viz/cluster sensor_msgs.msg.Image 'analysis/ros-sources/1710347721/scripts_chessboard_classifier.py':215:78
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/chessboard/top/ImgPose module89.msg.ChessboardImgPose self::chessboard_pose_top_callback 'analysis/ros-sources/1710347721/scripts_chessboard_classifier.py':207:147
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/chessboard/side/ImgPose module89.msg.ChessboardImgPose self::chessboard_pose_side_callback 'analysis/ros-sources/1710347721/scripts_chessboard_classifier.py':208:150

Service Servers:

Service Name Service Type System Location
/chessboard_classifier/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/chessboard_classifier/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/chessboard_classifier/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/chessboard_classifier/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/command_cluster_lock module89.srv.ClusterLock 'analysis/ros-sources/1710347721/scripts_chessboard_classifier.py':217:107
/chessboard_classifier/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/chessboard_classifier/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/chessboard_classifier/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="/chessboard_classifier">
            <profiles>
                <profile ns="/" node="chessboard_classifier">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/viz/top_cnn</topic>
                        <topic>/chessboard/fen</topic>
                        <topic>/chessboard/fen_binary</topic>
                        <topic>/chessboard/fen_color</topic>
                        <topic>/viz/side_cnn</topic>
                        <topic>/viz/cluster</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/chessboard/top/ImgPose</topic>
                        <topic>/chessboard/side/ImgPose</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/chessboard_classifier/describe_parameters</service>
                        <service>/chessboard_classifier/list_parameters</service>
                        <service>/chessboard_classifier/get_parameter_types</service>
                        <service>/chessboard_classifier/set_parameters_atomically</service>
                        <service>/command_cluster_lock</service>
                        <service>/chessboard_classifier/set_parameters</service>
                        <service>/chessboard_classifier/get_parameters</service>
                        <service>/chessboard_classifier/get_type_description</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/psuedo_state_controller

Publishers:

Topic Name Message Type System Location
rt/chessboard/turn std_msgs.msg.UInt8 'analysis/ros-sources/1710347721/scripts_pseudo_state.py':49:75
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/chessboard/illegal_move std_msgs.msg.Bool 'analysis/ros-sources/1710347721/scripts_pseudo_state.py':52:85
rt/chessboard/AI_ready std_msgs.msg.UInt8 'analysis/ros-sources/1710347721/scripts_pseudo_state.py':50:83
rt/chessboard/AI_bestmove std_msgs.msg.String 'analysis/ros-sources/1710347721/scripts_pseudo_state.py':51:90
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/chessboard/pseudo_fen std_msgs.msg.String 'analysis/ros-sources/1710347721/scripts_pseudo_state.py':53:84
rt/parameter_events rcl_interfaces/msg/ParameterEvent YES INTERNAL

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/chessboard/fen_color std_msgs.msg.UInt8MultiArray self::fen_color_callback 'analysis/ros-sources/1710347721/scripts_pseudo_state.py':45:123
rt/chessboard/fen_binary std_msgs.msg.UInt8MultiArray self::fen_binary_callback 'analysis/ros-sources/1710347721/scripts_pseudo_state.py':44:126
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

Service Name Service Type System Location
/psuedo_state_controller/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/execute_bestmove module89.srv.ExecuteBestMove 'analysis/ros-sources/1710347721/scripts_pseudo_state.py':57:123
/psuedo_state_controller/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/psuedo_state_controller/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/psuedo_state_controller/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/psuedo_state_controller/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/psuedo_state_controller/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/pseudo_board_setup module89.srv.PseudoBoardSetup 'analysis/ros-sources/1710347721/scripts_pseudo_state.py':58:106
/psuedo_state_controller/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="/psuedo_state_controller">
            <profiles>
                <profile ns="/" node="psuedo_state_controller">
                    <topics publish="ALLOW">
                        <topic>/chessboard/turn</topic>
                        <topic>/chessboard/illegal_move</topic>
                        <topic>/chessboard/AI_ready</topic>
                        <topic>/chessboard/AI_bestmove</topic>
                        <topic>/rosout</topic>
                        <topic>/chessboard/pseudo_fen</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/chessboard/fen_color</topic>
                        <topic>/chessboard/fen_binary</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/psuedo_state_controller/get_parameters</service>
                        <service>/execute_bestmove</service>
                        <service>/psuedo_state_controller/describe_parameters</service>
                        <service>/psuedo_state_controller/get_parameter_types</service>
                        <service>/psuedo_state_controller/list_parameters</service>
                        <service>/psuedo_state_controller/get_type_description</service>
                        <service>/psuedo_state_controller/set_parameters_atomically</service>
                        <service>/pseudo_board_setup</service>
                        <service>/psuedo_state_controller/set_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/minimal_publisher

Publishers:

Topic Name Message Type System Location
rt/chessboard/AI_bestmove std_msgs.msg.String 'analysis/ros-sources/1710347721/scripts_chessai_fake.py':14:86
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
rt/chessboard/pseudo_fen std_msgs.msg.String 'analysis/ros-sources/1710347721/scripts_chessai_fake.py':12:85
rt/chessboard/AI_ready std_msgs.msg.UInt8 'analysis/ros-sources/1710347721/scripts_chessai_fake.py':13:81

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_publisher/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/minimal_publisher/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/minimal_publisher/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/minimal_publisher/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/minimal_publisher/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/minimal_publisher/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/minimal_publisher/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="/minimal_publisher">
            <profiles>
                <profile ns="/" node="minimal_publisher">
                    <topics publish="ALLOW">
                        <topic>/chessboard/AI_bestmove</topic>
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/chessboard/pseudo_fen</topic>
                        <topic>/chessboard/AI_ready</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/minimal_publisher/set_parameters_atomically</service>
                        <service>/minimal_publisher/get_parameters</service>
                        <service>/minimal_publisher/set_parameters</service>
                        <service>/minimal_publisher/get_type_description</service>
                        <service>/minimal_publisher/list_parameters</service>
                        <service>/minimal_publisher/get_parameter_types</service>
                        <service>/minimal_publisher/describe_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/test_chessboard_locator

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

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

Service Clients:

Service Name Service Type System Location
/chessboard_locator module89.srv.ChessboardPose 'analysis/ros-sources/1710347721/scripts_client_chessboard_locator.py':13:74

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

/chess_client_async

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
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

Service Clients:

Service Name Service Type System Location
/find_best_move module89.srv.FindBestMove 'analysis/ros-sources/1710347721/scripts_chess_client.py':13:68

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

/chessboard_tracker

Publishers:

Topic Name Message Type System Location
rt/chessboard/top/ImgPose module89.msg.ChessboardImgPose 'analysis/ros-sources/1710347721/scripts_chessboard_tracker_dual.py':37:98
rt/chessboard/side/ImgPose module89.msg.ChessboardImgPose 'analysis/ros-sources/1710347721/scripts_chessboard_tracker_dual.py':38:100
rt/dope0/input sensor_msgs.msg.Image 'analysis/ros-sources/1710347721/scripts_chessboard_tracker_dual.py':35:74
rt/dope1/input sensor_msgs.msg.Image 'analysis/ros-sources/1710347721/scripts_chessboard_tracker_dual.py':36:74
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

Subscriptions:

Topic Name Message Type System Callback Function Location
rt/camera1/image sensor_msgs.msg.Image self::camera1_listener_callback 'analysis/ros-sources/1710347721/scripts_chessboard_tracker_dual.py':30:111
rt/dope0/output geometry_msgs.msg.Pose self::dope0_output_callback 'analysis/ros-sources/1710347721/scripts_chessboard_tracker_dual.py':32:106
rt/camera0/image sensor_msgs.msg.Image self::camera0_listener_callback 'analysis/ros-sources/1710347721/scripts_chessboard_tracker_dual.py':29:111
rt/chessboard/encoder std_msgs.msg.Float32 self::chessboard_encoder_callback 'analysis/ros-sources/1710347721/scripts_chessboard_tracker_dual.py':31:120
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/dope1/output geometry_msgs.msg.Pose self::dope1_output_callback 'analysis/ros-sources/1710347721/scripts_chessboard_tracker_dual.py':33:106

Service Servers:

Service Name Service Type System Location
/chessboard_tracker/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/chessboard_tracker/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/chessboard_tracker/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/chessboard_tracker/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/chessboard_tracker/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/chessboard_tracker/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/chessboard_tracker/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="/chessboard_tracker">
            <profiles>
                <profile ns="/" node="chessboard_tracker">
                    <topics publish="ALLOW">
                        <topic>/chessboard/top/ImgPose</topic>
                        <topic>/chessboard/side/ImgPose</topic>
                        <topic>/dope0/input</topic>
                        <topic>/dope1/input</topic>
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/camera1/image</topic>
                        <topic>/dope0/output</topic>
                        <topic>/camera0/image</topic>
                        <topic>/chessboard/encoder</topic>
                        <topic>/dope1/output</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/chessboard_tracker/describe_parameters</service>
                        <service>/chessboard_tracker/get_parameter_types</service>
                        <service>/chessboard_tracker/set_parameters</service>
                        <service>/chessboard_tracker/set_parameters_atomically</service>
                        <service>/chessboard_tracker/list_parameters</service>
                        <service>/chessboard_tracker/get_parameters</service>
                        <service>/chessboard_tracker/get_type_description</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/chess_engine

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
/chess_engine/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/chess_engine/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/chess_engine/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/chess_engine/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/find_best_move module89.srv.FindBestMove 'analysis/ros-sources/1710347721/scripts_chess_engine.py':16:106
/chess_engine/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/chess_engine/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/chess_engine/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="/chess_engine">
            <profiles>
                <profile ns="/" node="chess_engine">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/chess_engine/get_parameters</service>
                        <service>/chess_engine/get_type_description</service>
                        <service>/chess_engine/get_parameter_types</service>
                        <service>/chess_engine/set_parameters_atomically</service>
                        <service>/find_best_move</service>
                        <service>/chess_engine/describe_parameters</service>
                        <service>/chess_engine/set_parameters</service>
                        <service>/chess_engine/list_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/chessboard_dope_decoder

Publishers:

Topic Name Message Type System Location
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/pose geometry_msgs.msg.Pose 'analysis/ros-sources/1710347721/scripts_chessboard_locator_dope.py':229:63
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/tensor_sub isaac_ros_nvengine_interfaces.msg.TensorList self::tensor_listener_callback 'analysis/ros-sources/1710347721/scripts_chessboard_locator_dope.py':226:111
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL

Service Servers:

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

/dataset_gatherer

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/camera0/image sensor_msgs.msg.Image self::camera0_listener_callback 'analysis/ros-sources/1710347721/scripts_dataset_gatherer.py':81:111
rt/chessboard/encoder std_msgs.msg.Float32 self::chessboard_encoder_callback 'analysis/ros-sources/1710347721/scripts_dataset_gatherer.py':83:120
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/camera1/image sensor_msgs.msg.Image self::camera1_listener_callback 'analysis/ros-sources/1710347721/scripts_dataset_gatherer.py':82:111

Service Servers:

Service Name Service Type System Location
/dataset_gatherer/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/dataset_gatherer/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/dataset_gatherer/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/dataset_gatherer/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/dataset_gatherer/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/dataset_gatherer/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/dataset_gatherer/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="/dataset_gatherer">
            <profiles>
                <profile ns="/" node="dataset_gatherer">
                    <topics publish="ALLOW">
                        <topic>/parameter_events</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/camera0/image</topic>
                        <topic>/chessboard/encoder</topic>
                        <topic>/camera1/image</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/dataset_gatherer/get_parameter_types</service>
                        <service>/dataset_gatherer/list_parameters</service>
                        <service>/dataset_gatherer/describe_parameters</service>
                        <service>/dataset_gatherer/set_parameters_atomically</service>
                        <service>/dataset_gatherer/set_parameters</service>
                        <service>/dataset_gatherer/get_type_description</service>
                        <service>/dataset_gatherer/get_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/minimal_service

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_service/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/minimal_service/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/minimal_service/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/minimal_service/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/add_three_ints module89.srv.AddThreeInts 'analysis/ros-sources/1710347721/scripts_example_service.py':13:99
/minimal_service/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/minimal_service/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/minimal_service/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="/minimal_service">
            <profiles>
                <profile ns="/" node="minimal_service">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/minimal_service/get_parameter_types</service>
                        <service>/minimal_service/set_parameters_atomically</service>
                        <service>/minimal_service/describe_parameters</service>
                        <service>/minimal_service/list_parameters</service>
                        <service>/add_three_ints</service>
                        <service>/minimal_service/set_parameters</service>
                        <service>/minimal_service/get_type_description</service>
                        <service>/minimal_service/get_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/chessboard_detector_fake

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

Service Servers:

Service Name Service Type System Location
/chessboard_detector_fake/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/chessboard_detector_fake/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/chessboard_detector_fake/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/chessboard_detector_fake/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/chessboard_detector_fake/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/chessboard_detector_fake/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/chessboard_detector_fake/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/chessboard_detection module89.srv.ChessboardDetection 'analysis/ros-sources/1710347721/scripts_chessboard_detector_fake.py':19:104

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

/game_controller

Publishers:

Topic Name Message Type System Location
rt/rosout rcl_interfaces/msg/ParameterEvent YES INTERNAL
rt/chessboard/joint0 std_msgs.msg.Float32 'analysis/ros-sources/1710347721/scripts_GameController.py':74:80
rt/chessboard/encoder std_msgs.msg.Float32 'analysis/ros-sources/1710347721/scripts_GameController.py':78:79
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/chessboard/AI_ready std_msgs.msg.UInt8 self::ai_stat_callback 'analysis/ros-sources/1710347721/scripts_GameController.py':108:14
rt/camera0/image sensor_msgs.msg.Image self::camera0_image_callback 'analysis/ros-sources/1710347721/scripts_GameController.py':96:14
ros_discovery_info rmw_dds_common/msg/ParticipantEntitiesInfo YES INTERNAL
rt/chessboard/AI_bestmove std_msgs.msg.String self::ai_bestmove_callback 'analysis/ros-sources/1710347721/scripts_GameController.py':114:14
rt/chessboard/pseudo_fen std_msgs.msg.String self::fen_callback 'analysis/ros-sources/1710347721/scripts_GameController.py':90:14
rt/camera1/image sensor_msgs.msg.Image self::camera1_image_callback 'analysis/ros-sources/1710347721/scripts_GameController.py':102:14

Service Servers:

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

Service Clients:

Service Name Service Type System Location
/command_cluster_lock module89.srv.ClusterLock 'analysis/ros-sources/1710347721/scripts_GameController.py':152:86
/pseudo_board_setup module89.srv.PseudoBoardSetup 'analysis/ros-sources/1710347721/scripts_GameController.py':129:93
/execute_bestmove module89.srv.ExecuteBestMove 'analysis/ros-sources/1710347721/scripts_GameController.py':146:90
/command_pose_lock module89.srv.PoseLock 'analysis/ros-sources/1710347721/scripts_GameController.py':140:77
/find_best_move module89.srv.FindBestMove 'analysis/ros-sources/1710347721/scripts_GameController.py':123:77

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="/game_controller">
            <profiles>
                <profile ns="/" node="game_controller">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/chessboard/joint0</topic>
                        <topic>/chessboard/encoder</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/chessboard/AI_ready</topic>
                        <topic>/camera0/image</topic>
                        <topic>/chessboard/AI_bestmove</topic>
                        <topic>/chessboard/pseudo_fen</topic>
                        <topic>/camera1/image</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/game_controller/describe_parameters</service>
                        <service>/game_controller/get_type_description</service>
                        <service>/game_controller/get_parameters</service>
                        <service>/game_controller/set_parameters</service>
                        <service>/game_controller/set_parameters_atomically</service>
                        <service>/game_controller/get_parameter_types</service>
                        <service>/game_controller/list_parameters</service>
                    </services>
                    <services request="ALLOW">
                        <service>/command_cluster_lock</service>
                        <service>/pseudo_board_setup</service>
                        <service>/execute_bestmove</service>
                        <service>/command_pose_lock</service>
                        <service>/find_best_move</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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