LiSA | ROS Application Report

Computational Graph

Analysis Results

Lines of code: 166
Nodes: 2
Topics: 10, 3 of which are system-related
Services: 14, 14 of which are system-related
Actions: 0
Publishers: 11, 6 of which are system-related
Subscriptions: 5, 2 of which are system-related
Service Servers: 14, 14 of which are system-related
Service Clients: 0
Action Servers: 0
Action Clients: 0

Nodes

/waffle_topology_generate_topology

Publishers:

Topic Name	Message Type	System	Location
rt/topology/nodes	visualization_msgs.msg.Marker		'analysis/ros-sources/1710333725/waffle_topology_generate_topology.py':37:82
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES	INTERNAL
rt/topology/intersections	visualization_msgs.msg.MarkerArray		'analysis/ros-sources/1710333725/waffle_topology_generate_topology.py':39:97
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/topology/edges	visualization_msgs.msg.Marker		'analysis/ros-sources/1710333725/waffle_topology_generate_topology.py':38:82
rt/parameter_events	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
rt/topology/area	nav_msgs.msg.OccupancyGrid		self::area_callback	'analysis/ros-sources/1710333725/waffle_topology_generate_topology.py':35:112
rt/odom	nav_msgs.msg.Odometry		self::odom_callback	'analysis/ros-sources/1710333725/waffle_topology_generate_topology.py':36:98
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

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

/waffle_topology_deproject_scan

Publishers:

Topic Name	Message Type	System	Location
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES	INTERNAL
rt/topology/area	nav_msgs.msg.OccupancyGrid		'analysis/ros-sources/1710333725/waffle_topology_deproject_scan.py':35:87
rt/parameter_events	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/scan/sample	sensor_msgs.msg.PointCloud		'analysis/ros-sources/1710333725/waffle_topology_deproject_scan.py':33:89
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/scan	sensor_msgs.msg.LaserScan		self::scan_callback	'analysis/ros-sources/1710333725/waffle_topology_deproject_scan.py':34:99

Service Servers:

Service Name	Service Type	System	Location
/waffle_topology_deproject_scan/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/waffle_topology_deproject_scan/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/waffle_topology_deproject_scan/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/waffle_topology_deproject_scan/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/waffle_topology_deproject_scan/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/waffle_topology_deproject_scan/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/waffle_topology_deproject_scan/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="/waffle_topology_deproject_scan">
            <profiles>
                <profile ns="/" node="waffle_topology_deproject_scan">
                    <topics publish="ALLOW">
                        <topic>/topology/area</topic>
                        <topic>/parameter_events</topic>
                        <topic>/scan/sample</topic>
                        <topic>/rosout</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/scan</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/waffle_topology_deproject_scan/describe_parameters</service>
                        <service>/waffle_topology_deproject_scan/get_parameter_types</service>
                        <service>/waffle_topology_deproject_scan/set_parameters</service>
                        <service>/waffle_topology_deproject_scan/get_parameters</service>
                        <service>/waffle_topology_deproject_scan/list_parameters</service>
                        <service>/waffle_topology_deproject_scan/set_parameters_atomically</service>
                        <service>/waffle_topology_deproject_scan/get_type_description</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