LiSA | ROS Application Report

Computational Graph

Analysis Results

Lines of code: 1451
Nodes: 5
Topics: 22, 3 of which are system-related
Services: 35, 35 of which are system-related
Actions: 0
Publishers: 35, 15 of which are system-related
Subscriptions: 34, 5 of which are system-related
Service Servers: 35, 35 of which are system-related
Service Clients: 0
Action Servers: 0
Action Clients: 0

Nodes

/camera

Publishers:

Topic Name	Message Type	System	Location
rt/camera_sensor_settings	telemetry_interfaces.msg.CameraSettings		'analysis/ros-sources/1710323361/telemetry_pkg_camera.py':48:100
rt/keep_alive	telemetry_interfaces.msg.String		'analysis/ros-sources/1710323361/telemetry_pkg_camera.py':49:79
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/camera_frame	telemetry_interfaces.msg.CompressedImage		'analysis/ros-sources/1710323361/telemetry_pkg_camera.py':47:86

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
rt/enable_read	telemetry_interfaces.msg.EnableRead		self::callback_enable_camera_read	'analysis/ros-sources/1710323361/telemetry_pkg_camera.py':55:125
rt/telemetry_data_log_enable	telemetry_interfaces.msg.Bool		self::callback_telemetry_data_log_enable	'analysis/ros-sources/1710323361/telemetry_pkg_camera.py':70:151
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL
rt/log_level	telemetry_interfaces.msg.Int		self::callback_set_log_level	'analysis/ros-sources/1710323361/telemetry_pkg_camera.py':67:107
rt/set_period	telemetry_interfaces.msg.SamplingRate		self::callback_set_camera_period	'analysis/ros-sources/1710323361/telemetry_pkg_camera.py':52:125

Service Servers:

Service Name	Service Type	System	Location
/camera/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/camera/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/camera/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/camera/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/camera/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/camera/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/camera/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="/camera">
            <profiles>
                <profile ns="/" node="camera">
                    <topics publish="ALLOW">
                        <topic>/camera_sensor_settings</topic>
                        <topic>/keep_alive</topic>
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/camera_frame</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/enable_read</topic>
                        <topic>/telemetry_data_log_enable</topic>
                        <topic>/log_level</topic>
                        <topic>/set_period</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/camera/get_parameters</service>
                        <service>/camera/list_parameters</service>
                        <service>/camera/get_type_description</service>
                        <service>/camera/describe_parameters</service>
                        <service>/camera/get_parameter_types</service>
                        <service>/camera/set_parameters_atomically</service>
                        <service>/camera/set_parameters</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/wifi_stats

Publishers:

Topic Name	Message Type	System	Location
rt/wifi_stats	telemetry_interfaces.msg.WifiStats		'analysis/ros-sources/1710323361/telemetry_pkg_wifi_gen.py':30:86
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

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
rt/telemetry_data_log_enable	telemetry_interfaces.msg.Bool		self::callback_telemetry_data_log_enable	'analysis/ros-sources/1710323361/telemetry_pkg_wifi_gen.py':53:155
rt/log_level	telemetry_interfaces.msg.Int		self::callback_set_log_level	'analysis/ros-sources/1710323361/telemetry_pkg_wifi_gen.py':50:111
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

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

/gui

Publishers:

Topic Name	Message Type	System	Location
rt/play_buzzer	telemetry_interfaces.msg.PlayBuzzer		'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':292:89
rt/log_level	telemetry_interfaces.msg.Int		'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':137:78
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/parameter_events	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/telemetry_data_log_enable	telemetry_interfaces.msg.Bool		'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':140:111
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES	INTERNAL
rt/enable_read	telemetry_interfaces.msg.EnableRead		'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':84:91
rt/set_period	telemetry_interfaces.msg.SamplingRate		'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':83:92
rt/motors	telemetry_interfaces.msg.Motors		'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':463:75

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
rt/ups_sensor_settings	telemetry_interfaces.msg.UPSSettings		self::callback_settings_ups	'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':115:127
rt/camera_sensor_settings	telemetry_interfaces.msg.CameraSettings		self::callback_settings_camera	'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':116:139
rt/read_proximity_sensors	telemetry_interfaces.msg.ProximitySensors		self::callback_read_proximity_sensors	'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':437:159
rt/keep_alive	telemetry_interfaces.msg.String		self::callback_keep_alive	'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':118:113
rt/read_ups_charging	telemetry_interfaces.msg.Bool		self::callback_read_charging	'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':529:124
rt/wifi_stats	telemetry_interfaces.msg.WifiStats		self::callback_wifi_stats	'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':210:116
rt/read_imu	telemetry_interfaces.msg.Imu		self::callback_read_imu	'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':328:104
rt/camera_frame	telemetry_interfaces.msg.CompressedImage		self::callback_read_frames	'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':607:126
rt/read_encoders	telemetry_interfaces.msg.Encoders		self::callback_read_encoders	'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':368:124
rt/read_buzzer	telemetry_interfaces.msg.Buzzer		self::callback_read_buzzer	'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':291:116
rt/read_line_sensors	telemetry_interfaces.msg.LineSensors		self::callback_read_line_sensors	'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':409:139
rt/read_ups_battery	telemetry_interfaces.msg.Battery		self::callback_read_battery	'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':556:124
rt/zumo_sensor_settings	telemetry_interfaces.msg.Zumo		self::callback_settings_zumo	'analysis/ros-sources/1710323361/telemetry_pkg_gui.py':114:123
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

Service Name	Service Type	System	Location
/gui/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/gui/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/gui/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/gui/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/gui/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/gui/get_type_description	type_description_interfaces/srv/GetTypeDescription	YES	INTERNAL
/gui/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="/gui">
            <profiles>
                <profile ns="/" node="gui">
                    <topics publish="ALLOW">
                        <topic>/play_buzzer</topic>
                        <topic>/log_level</topic>
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                        <topic>/telemetry_data_log_enable</topic>
                        <topic>/enable_read</topic>
                        <topic>/set_period</topic>
                        <topic>/motors</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/ups_sensor_settings</topic>
                        <topic>/camera_sensor_settings</topic>
                        <topic>/read_proximity_sensors</topic>
                        <topic>/keep_alive</topic>
                        <topic>/read_ups_charging</topic>
                        <topic>/wifi_stats</topic>
                        <topic>/read_imu</topic>
                        <topic>/camera_frame</topic>
                        <topic>/read_encoders</topic>
                        <topic>/read_buzzer</topic>
                        <topic>/read_line_sensors</topic>
                        <topic>/read_ups_battery</topic>
                        <topic>/zumo_sensor_settings</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/gui/get_parameters</service>
                        <service>/gui/set_parameters_atomically</service>
                        <service>/gui/list_parameters</service>
                        <service>/gui/set_parameters</service>
                        <service>/gui/describe_parameters</service>
                        <service>/gui/get_type_description</service>
                        <service>/gui/get_parameter_types</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/serial_interface

Publishers:

Topic Name	Message Type	System	Location
rt/read_proximity_sensors	telemetry_interfaces.msg.ProximitySensors		'analysis/ros-sources/1710323361/telemetry_pkg_serial_interface.py':39:117
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES	INTERNAL
rt/read_encoders	telemetry_interfaces.msg.Encoders		'analysis/ros-sources/1710323361/telemetry_pkg_serial_interface.py':37:91
rt/read_buzzer	telemetry_interfaces.msg.Buzzer		'analysis/ros-sources/1710323361/telemetry_pkg_serial_interface.py':35:85
rt/keep_alive	telemetry_interfaces.msg.String		'analysis/ros-sources/1710323361/telemetry_pkg_serial_interface.py':41:83
rt/zumo_sensor_settings	telemetry_interfaces.msg.Zumo		'analysis/ros-sources/1710323361/telemetry_pkg_serial_interface.py':40:90
rt/rosout	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL
rt/read_imu	telemetry_interfaces.msg.Imu		'analysis/ros-sources/1710323361/telemetry_pkg_serial_interface.py':36:76
rt/read_line_sensors	telemetry_interfaces.msg.LineSensors		'analysis/ros-sources/1710323361/telemetry_pkg_serial_interface.py':38:102
rt/parameter_events	rcl_interfaces/msg/ParameterEvent	YES	INTERNAL

Subscriptions:

Topic Name	Message Type	System	Callback Function	Location
rt/set_period	telemetry_interfaces.msg.SamplingRate		self::callback_set_serial_period	'analysis/ros-sources/1710323361/telemetry_pkg_serial_interface.py':48:129
rt/motors	telemetry_interfaces.msg.Motors		self::callback_motors	'analysis/ros-sources/1710323361/telemetry_pkg_serial_interface.py':45:101
rt/enable_read	telemetry_interfaces.msg.EnableRead		self::callback_enable_serial_read	'analysis/ros-sources/1710323361/telemetry_pkg_serial_interface.py':51:129
rt/log_level	telemetry_interfaces.msg.Int		self::callback_set_log_level	'analysis/ros-sources/1710323361/telemetry_pkg_serial_interface.py':67:111
rt/play_buzzer	telemetry_interfaces.msg.PlayBuzzer		self::callback_play_buzzer	'analysis/ros-sources/1710323361/telemetry_pkg_serial_interface.py':44:120
rt/telemetry_data_log_enable	telemetry_interfaces.msg.Bool		self::callback_telemetry_data_log_enable	'analysis/ros-sources/1710323361/telemetry_pkg_serial_interface.py':70:155
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

Service Name	Service Type	System	Location
/serial_interface/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/serial_interface/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/serial_interface/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/serial_interface/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/serial_interface/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/serial_interface/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/serial_interface/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="/serial_interface">
            <profiles>
                <profile ns="/" node="serial_interface">
                    <topics publish="ALLOW">
                        <topic>/read_proximity_sensors</topic>
                        <topic>/read_encoders</topic>
                        <topic>/read_buzzer</topic>
                        <topic>/keep_alive</topic>
                        <topic>/zumo_sensor_settings</topic>
                        <topic>/rosout</topic>
                        <topic>/read_imu</topic>
                        <topic>/read_line_sensors</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/set_period</topic>
                        <topic>/motors</topic>
                        <topic>/enable_read</topic>
                        <topic>/log_level</topic>
                        <topic>/play_buzzer</topic>
                        <topic>/telemetry_data_log_enable</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/serial_interface/list_parameters</service>
                        <service>/serial_interface/set_parameters</service>
                        <service>/serial_interface/set_parameters_atomically</service>
                        <service>/serial_interface/get_parameter_types</service>
                        <service>/serial_interface/get_parameters</service>
                        <service>/serial_interface/describe_parameters</service>
                        <service>/serial_interface/get_type_description</service>
                    </services>
                </profile>
            </profiles>
        </enclave>
    </enclaves>
</policy>

/ups_reading

Publishers:

Topic Name	Message Type	System	Location
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES	INTERNAL
rt/read_ups_battery	telemetry_interfaces.msg.Battery		'analysis/ros-sources/1710323361/telemetry_pkg_ups_reading.py':59:96
rt/read_ups_charging	telemetry_interfaces.msg.Bool		'analysis/ros-sources/1710323361/telemetry_pkg_ups_reading.py':58:95
rt/ups_sensor_settings	telemetry_interfaces.msg.UPSSettings		'analysis/ros-sources/1710323361/telemetry_pkg_ups_reading.py':60:95
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/log_level	telemetry_interfaces.msg.Int		self::callback_set_log_level	'analysis/ros-sources/1710323361/telemetry_pkg_ups_reading.py':78:111
rt/telemetry_data_log_enable	telemetry_interfaces.msg.Bool		self::callback_telemetry_data_log_enable	'analysis/ros-sources/1710323361/telemetry_pkg_ups_reading.py':81:155
rt/set_period	telemetry_interfaces.msg.SamplingRate		self::callback_set_ups_period	'analysis/ros-sources/1710323361/telemetry_pkg_ups_reading.py':63:123
rt/enable_read	telemetry_interfaces.msg.EnableRead		self::callback_enable_ups_read	'analysis/ros-sources/1710323361/telemetry_pkg_ups_reading.py':66:123
ros_discovery_info	rmw_dds_common/msg/ParticipantEntitiesInfo	YES		INTERNAL

Service Servers:

Service Name	Service Type	System	Location
/ups_reading/set_parameters	rcl_interfaces/srv/SetParameters	YES	INTERNAL
/ups_reading/get_parameter_types	rcl_interfaces/srv/GetParameterTypes	YES	INTERNAL
/ups_reading/describe_parameters	rcl_interfaces/srv/DescribeParameters	YES	INTERNAL
/ups_reading/list_parameters	rcl_interfaces/srv/ListParameters	YES	INTERNAL
/ups_reading/get_parameters	rcl_interfaces/srv/GetParameters	YES	INTERNAL
/ups_reading/set_parameters_atomically	rcl_interfaces/srv/SetParametersAtomically	YES	INTERNAL
/ups_reading/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="/ups_reading">
            <profiles>
                <profile ns="/" node="ups_reading">
                    <topics publish="ALLOW">
                        <topic>/read_ups_battery</topic>
                        <topic>/read_ups_charging</topic>
                        <topic>/ups_sensor_settings</topic>
                        <topic>/rosout</topic>
                        <topic>/parameter_events</topic>
                    </topics>
                    <topics subscribe="ALLOW">
                        <topic>/log_level</topic>
                        <topic>/telemetry_data_log_enable</topic>
                        <topic>/set_period</topic>
                        <topic>/enable_read</topic>
                    </topics>
                    <services reply="ALLOW">
                        <service>/ups_reading/set_parameters</service>
                        <service>/ups_reading/get_parameter_types</service>
                        <service>/ups_reading/describe_parameters</service>
                        <service>/ups_reading/list_parameters</service>
                        <service>/ups_reading/get_parameters</service>
                        <service>/ups_reading/set_parameters_atomically</service>
                        <service>/ups_reading/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

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