Computational Graph

Analysis Results

  • Lines of code: 243
  • Nodes: 6
  • Topics: 4, 3 of which are system-related
  • Services: 44, 42 of which are system-related
  • Actions: 0
  • Publishers: 19, 18 of which are system-related
  • Subscriptions: 7, 6 of which are system-related
  • Service Servers: 44, 42 of which are system-related
  • Service Clients: 3
  • Action Servers: 0
  • Action Clients: 0

Nodes

/poly_dust_service

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
/poly_dust_service/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/poly_dust_service/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/poly_dust_service/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/poly_dust_service solar_interfaces.srv.DeliverImg 'analysis/ros-sources/1710334730/poly_dust_poly_dust_server.py':29:73
/poly_dust_service/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/poly_dust_service/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/poly_dust_service/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/poly_dust_service/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL

Service Clients:

Service Name Service Type System Location
/deliver_server solar_interfaces.srv.DeliverImg 'analysis/ros-sources/1710334730/poly_dust_poly_dust_server.py':39:60

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

/deliver_client_async

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

Service Clients:

Service Name Service Type System Location
/deliver_server solar_interfaces.srv.DeliverImg 'analysis/ros-sources/1710334730/watcher_deliver_client.py':17:67

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

/watcher_subscriber

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
rt/solar_panel_watcher std_msgs.msg.String self::listener_callback 'analysis/ros-sources/1710334730/watcher_watcher_sub.py':15:14

Service Servers:

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

/watcher_publisher

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/solar_panel_watcher std_msgs.msg.String 'analysis/ros-sources/1710334730/watcher_watcher_pub.py':20:81
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
/watcher_publisher/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/watcher_publisher/get_parameter_types rcl_interfaces/srv/GetParameterTypes YES INTERNAL
/watcher_publisher/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/watcher_publisher/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/watcher_publisher/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/watcher_publisher/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/watcher_publisher/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="/watcher_publisher">
            <profiles>
                <profile ns="/" node="watcher_publisher">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/solar_panel_watcher</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/watcher_publisher/set_parameters_atomically</service>
                        <service>/watcher_publisher/get_parameter_types</service>
                        <service>/watcher_publisher/get_parameters</service>
                        <service>/watcher_publisher/list_parameters</service>
                        <service>/watcher_publisher/describe_parameters</service>
                        <service>/watcher_publisher/get_type_description</service>
                        <service>/watcher_publisher/set_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/deliver_service

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
/deliver_service/list_parameters rcl_interfaces/srv/ListParameters YES INTERNAL
/deliver_service/set_parameters_atomically rcl_interfaces/srv/SetParametersAtomically YES INTERNAL
/deliver_server solar_interfaces.srv.DeliverImg 'analysis/ros-sources/1710334730/watcher_deliver_server.py':13:87
/deliver_service/get_parameters rcl_interfaces/srv/GetParameters YES INTERNAL
/deliver_service/get_type_description type_description_interfaces/srv/GetTypeDescription YES INTERNAL
/deliver_service/describe_parameters rcl_interfaces/srv/DescribeParameters YES INTERNAL
/deliver_service/set_parameters rcl_interfaces/srv/SetParameters YES INTERNAL
/deliver_service/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="/deliver_service">
            <profiles>
                <profile ns="/" node="deliver_service">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/deliver_service/list_parameters</service>
                        <service>/deliver_service/set_parameters_atomically</service>
                        <service>/deliver_server</service>
                        <service>/deliver_service/get_parameters</service>
                        <service>/deliver_service/get_type_description</service>
                        <service>/deliver_service/describe_parameters</service>
                        <service>/deliver_service/set_parameters</service>
                        <service>/deliver_service/get_parameter_types</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/poly_dust_client

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

Service Clients:

Service Name Service Type System Location
/poly_dust_service solar_interfaces.srv.DeliverImg 'analysis/ros-sources/1710334730/poly_dust_poly_dust_client.py':17:70

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="/poly_dust_client">
            <profiles>
                <profile ns="/" node="poly_dust_client">
                    <topics publish="ALLOW">
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/poly_dust_client/describe_parameters</service>
                        <service>/poly_dust_client/get_parameters</service>
                        <service>/poly_dust_client/set_parameters</service>
                        <service>/poly_dust_client/get_parameter_types</service>
                        <service>/poly_dust_client/list_parameters</service>
                        <service>/poly_dust_client/get_type_description</service>
                        <service>/poly_dust_client/set_parameters_atomically</service>
                    </services>
                    <services request="ALLOW">
                        <service>/poly_dust_service</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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