HAROS is a framework for static analysis of ROS-based code. It has been published in the IROS 2016 conference. If you want to cite HAROS in your publications, please cite the original paper.

Static analysis consists on extracting information from the source code without executing it (and, sometimes, even without compiling it). The kind of properties that can be verified include simple conformity checks, such as checking whether a variable is initialised, to more complex properties, such as functional behavior of the program. This allows early detection of problems in the software development life cycle, which would otherwise go unnoticed into later stages or even into production.

Needless to say, sometimes in robotics it is very hard (or very expensive) to properly test software, not to talk about possible risks. Hence the appeal of static analysis.

Current Status

HAROS is still being developed, as of June 2019.

There is a demo page available on GitHub and a demo video on YouTube.

Please use the issue tracker on this repository for issues or feature requests directly related to HAROS. For issues related to plugins, use the plugin repository instead.

Installation

Here are some instructions to help you get HAROS running in your machine. This assumes that you already have a working installation of ROS. HAROS has been tested with ROS Indigo, ROS Kinetic and ROS Melodic, on Linux Mint and Linux Ubuntu. These setups should provide you with most of the basic dependencies of HAROS, namely Python 2.7 and a Web browser (if you want to use the visualiser).

NOTE This tool depends on other analysis tools. If you would rather install these dependencies first, then Ctrl+F $dependencies$. Otherwise, just keep reading.

NOTE This tool assumes that the current terminal shell has a source /opt/ros/<distro>/setup.bash and a source /path/to/workspace/devel/setup.bash. In other words, you need a working ROS installation and a catkin workspace.

Method 1: Running Without Installation

Open a terminal, and move to a directory where you want to clone this repository.

mkdir ros
cd ros
git clone https://github.com/git-afsantos/haros.git

There is an executable script in the root of this repository to help you get started. It allows you to run haros without installing it. Make sure that your terminal is at the root of the repository.

cd haros
python haros-runner.py <args>

You can also run it with the executable package syntax.

python -m haros <args>

Method 2: Installing HAROS on Your Machine

HAROS is available on PyPi. You can install it from source or from a wheel.

pip install haros

The command above will install HAROS for you. Alternatively, download and extract its source, move to the project's root directory, and then execute the following.

python setup.py install

After installation, you should be able to run the command haros in your terminal.

Requirements

Before running any kind of analysis, you need to install some analysis tools and plugins that HAROS uses behind the curtains. Install these $dependencies$ with the following commands.

Python requirements: (Not necessary if you install HAROS from pip)

pip install -r requirements.txt

Additional analysis tools:

[sudo] apt-get install cppcheck
[sudo] apt-get install cccc

Optionally, install pyflwor to enable queries to run on extracted models later on.

pip install -e git+https://github.com/timtadh/pyflwor.git#egg=pyflwor

or, if you have a virtualenv

pip install pyflwor-ext

If you want to use the model extraction features of HAROS, you must install additional $dependencies$. These features are only available for C++ code as of now.

[sudo] pip install -Iv clang==3.8
[sudo] apt-get install libclang-3.8-dev

Optional step: set up the LD_LIBRARY_PATH environment variable to point to the libclang.so shared library. Example:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/llvm-3.8/lib

NB: you might need to specify in ~/.haros/configs.yaml the library file and the includes in case you are using a non-zero minor release (e.g., libclang 3.8.1)

If you do not perform this step and your library is installed in a different path, you will need to specify it in the configuration file located in ~/.haros/configs.yaml. This file becomes available after running HAROS for the first time.

The same applies if you want to use a version of libclang.so other than 3.8. Preliminary tests suggest that 3.9, 4.0, 5.0 and 6.0 also work (as long as the versions of libclang-X.Y-dev and Python's clang package match).

Example for version 4.0:

[sudo] apt-get install libclang-4.0-dev
[sudo] pip install -Iv clang==4.0

~/.haros/configs.yaml:

%YAML 1.1
---
workspace: '/home/me/ros/ws'
cpp:
    parser_lib: '/usr/lib/llvm-4.0/lib'
    std_includes: '/usr/lib/llvm-4.0/lib/clang/4.0.1/include'
    compile_db: '/home/me/ros/ws/build'

Finally, you need to perform some initialisation operations. Do so with:

haros init

Note: if you opted for running HAROS without installing it, replace haros with your preferred method.

HAROS is now installed and ready to use.

Usage

Here is a basic example to help you get started with HAROS. Additional examples should be added in a future update.

HAROS works with the concept of project files. These files are more or less an equivalent to a project description, and they tell HAROS which packages and applications you want to analyse. For this basic example, you should have the packages installed, and with available source code. If you run rospack find my_package and it returns the location of your package's source code, you're good to go.

HAROS will only use one project file at a time, but you can create as many as you want (e.g. one for each of your robots).

touch my_robot.yaml
nano my_robot.yaml

And my_robot.yaml's contents:

%YAML 1.1
---
packages:
    - package1
    - package2
    - package3

Now, you are ready to run analysis and visualisation on the given list of packages.

haros full -p my_robot.yaml

The full command tells HAROS to run analysis and then visualisation. If you just want to run analysis, use the analyse command instead.

The -p option lets you specify a project file of your own.

When the analysis finishes, HAROS should start a visualisation server and your web browser on the appropriate page. To exit, just close your browser and press Enter on the terminal.

The visualiser presents you with different views of the analysis results. By default, the first thing you see will be the dashboard. The dashboard gives you an overview of the analysed items and the number of issues found.

It also shows you the evolution of some metrics over time.

Using the other tabs at the top bar, you can navigate to a package graph view, showing the analysed packages and their dependencies. Each package is coloured according to a scale at the bottom, to give you an idea of how many issues the analysis found for that package.

You can view the list of issues, filtering by package or by a number of tags that each rule provides.

If you want to analyse several projects, or groups of packages, it is recommended to create a project file for each project, and define a project name as well. This way, HAROS will store analysis results separately. Example:

%YAML 1.1
---
project: my_robot
packages:
    - package1
    - package2

An empty list of packages results in the analysis of all packages found under the current working directory.

Below you can find the basic commands and options that HAROS provides.

haros --home HOME_DIR

This top-level option sets HOME_DIR as the default HAROS home directory for the current run. By default, HAROS uses ~/.haros as the HOME_DIR.

haros init

This command runs setup operations. This command will create directories and overwrite some files (if there are some already with the same name).

haros analyse

This command runs analysis and model extraction on a given list of packages.

haros analyse (no options)

Runs analysis with the list of packages found within the default project file (~/.haros/index.yaml). You are free to edit this file.

haros analyse -p PROJECT_FILE

Uses the given project file to run the analysis, instead of the default one.

haros analyse -r

Uses repository information when available. If HAROS cannot find one of the packages you specified, it will look for it in the official ROS distribution and download it.

If your package is not in the official distribution, you can modify your project file to tell HAROS in which repository to look for the source (e.g. you can specify private repositories this way). Here is an example:

%YAML 1.1
---
packages:
    - my_package
repositories:
    repository_name:
        type:       git
        url:        https://github.com/git-user/repository_name.git
        version:    master
        packages:
            - my_package
            - another_package

The only supported repository type, for now, is git. There is partial support for hg and svn, but these have not been fully tested.

haros analyse -w PLUGIN [-w PLUGIN, ...]

Whitelist the given plugins. The analysis will only run these plugins. This option does not work with -b.

haros analyse -b PLUGIN [-b PLUGIN, ...]

Blacklist the given plugins. The analysis will not run these plugins. This option does not work with -w.

haros analyse -d DATA_DIR

Export analysis results to the given directory, instead of the default one. This option will also install the visualisation files. If DATA_DIR contains a previous analysis database for the current project within its tree, it will be loaded and new results will be added to that database.

• Note: it is advised to use an empty/dedicated directory for this purpose. Previous versions deleted any existing files within DATA_DIR.*

haros analyse -n

Parse the source code of ROS nodes when possible, so as to extract a model from it. This options produces a result similar to rqt_graph, but without executing code.

Note: this option requires that you have the appropriate parsing libraries installed (e.g. libclang for C++).

haros analyse --no-cache

Do not use cached data. This is useful, for instance, if you want to force nodes to be parsed again, despite any cached data.

Caches are currently invalidated by source files modified more recently than the last analysed versions. Use this option, for instance, if you replace a file with another with a previous modification date.

haros analyse --env

Use a full copy of your environment variables for the analysis.

haros analyse --minimal-output

Only export those files necessary for viewing the HTML report.

haros export

This command exports the analysis results (e.g. JSON files) to a location of your choosing. It assumes that some analyses were run previously.

haros export DATA_DIR

Exports analysis data to the given directory. This command will create files and directories within the given directory.

haros export -v

Export visualisation files along with analysis data.

• Note: it is advised to use an empty/dedicated directory for this purpose. Previous versions deleted any existing files within DATA_DIR.*

haros export -p PROJECT_NAME

Export a specific project's data, instead of the default one. A special project name, all, can be used to export all available projects.

haros export --minimal-output

Only export those files necessary for viewing the HTML report.

haros viz

This command runs the visualisation only. It assumes that some analyses were run previously.

haros viz (no options)

Launches the web visualiser and the visualisation server at localhost:8080.

haros viz -s HOST:PORT

Launches the web visusaliser and the visualisation server at the given host.

haros viz -d DATA_DIR

Serve the given directory, instead of the default one.

haros viz --headless

Start the viz server without launching a web browser.

haros full

Runs analysis and visualisation. This command accepts the same options as haros analyse and haros viz.

Settings File

HAROS uses a configuration file (located at ~/.haros/configs.yaml) with some default settings. These can be changed to meet your needs, and, in some cases, must be modified for the tool to function properly. Future versions may expose more settings in this file. When applicable, command-line arguments will override the settings in this file.

Here follows the current file structure.

%YAML 1.1
---
workspace: "/path/to/catkin_ws"
environment: null
plugin_blacklist: []
cpp:
    parser_lib: "/usr/lib/llvm-3.8/lib"
    std_includes: "/usr/lib/llvm-3.8/lib/clang/3.8.0/include"
    compile_db: "/path/to/catkin_ws/build"

workspace

Specifies a path to your ROS catkin workspace. This setting can be omitted or set to null, in which case HAROS will attempt to find your default workspace, using the same behaviour as the roscd tool.

environment

Specifies a mapping of variables (string keys and string values) to act as the environment variables used during analysis. This can be used to specify variables and values your system needs, making analyses yield the same results independently of the machine you run HAROS on.

This value can be omitted or set to null, in which case a mostly empty environment will be used for analysis.

Alternatively, instead of a variable mapping, you can use the special value copy, which is a shortcut to use a copy of your local environment.

plugin_blacklist

Specifies a list of plugins to be blacklisted by default.

cpp

Under this mapping there are settings related to parsing C++ files.

parser_lib

Specifies the path to the directory containing your installation of libclang. By default, this is under /usr/lib/llvm-3.8/lib.

Note: this is a required setting by the clang compiler.

std_includes

Specifies the path to the directory containing the C++ standard includes provided by libclang. By default, this is under /usr/lib/llvm-3.8/lib/clang/3.8.0/include.

compile_db

Specifies the path to the directory containing a compilation database (a compile_commands.json file). By default, this is under the build directory within your catkin workspace.

This setting can be set to null, in which case HAROS will try to use the default location.

Alternatively, this setting can be set to false, in which case HAROS will not use a compilation database to parse C++ files.

Defining Custom Applications

HAROS allows you to define your own ROS applications for analysis (called Configurations). These are defined in project files. Example:

%YAML 1.1
---
packages:
    - my_package
configurations:
    my_app:
        - my_package/launch/base.launch
        - my_package/launch/controller.launch

A Configuration is a mapping from a name (of your choosing) to a list of launch files that make the application (in the order they should be launched). HAROS will analyse the given files to try to extract participant nodes and parameters.

If node parsing is enabled (-n), the source code of participant nodes will be scanned for topics and services used, thus completing the ROS Computation Graph.

It is possible that the extracted model is missing some entities, or is unable to resolve all ROS names. In this case, you can provide extraction hints in the project file as well. Hints describe which topics each node uses, as well as the message type. Hints should be set with the names the node would use prior to any remappings. Here follows an example.

%YAML 1.1
---
packages:
    - my_package
configurations:
    my_app:
        launch:
            - my_package/launch/base.launch
            - my_package/launch/controller.launch
        hints:
            /base_node:
                subscribe:
                    commands/full_stop: std_msgs/EmptyMsg

This feature may require some additional setup. Make sure you look into the provided tips.

User-defined Queries

As of HAROS v3, you can now specify custom queries to run over the extracted data. Results of these queries will be reported visually in the visualiser graph, as well as textually, like regular plugin issues. The query engine and language is based on pyflwor, so be sure to check it out for a language reference.

As to defining custom queries, this can also be done in project files, in the rules section.

%YAML 1.1
---
packages:
    - my_package
rules:
    type_check_topics:
        name: Message Types Must Match
        description: All nodes using a topic must communicate using the same message type.
        tags:
            - type-check
            - ros-comm
            - custom-filter-tag
        scope: configuration
        query: "for p in <nodes/publishers | nodes/subscribers>,
                    s in <nodes/publishers | nodes/subscribers>
                where p.topic_name == s.topic_name and p.type != s.type
                return p, s"

To define a rule, you must provide a name, a description, and a list of tags. The query field is where you can define your query. The scope field is optional, and affects what is available to the query.

To know more about the attributes of each type of entity, check out the metamodel.

Queries without scope

These have top-level access to both source-code and runtime entities.

• files - the set of source code files (SourceFile).
• packages - the set of packages (Package).
• nodes - the set of nodes built from source (Node).
• configs - the set of extracted ROS applications (Configuration).

Queries with scope: package

These queries are repeated for each package, and they have access to the following variables.

• package - the current Package being queried.
• files - the source files belonging to the package (SourceFile).
• nodes - the set of nodes built from the current package (Node).

Queries with scope: configuration

These queries are repeated for each extracted Configuration, and they have access to the following variables.

• config - the current Configuration being queried.
• nodes - the set of runtime nodes belonging to the configuration (NodeInstance).
• topics - the set of topics belonging to the configuration (Topic).
• services - the set of services belonging to the configuration (Service).
• parameters - the set of parameters belonging to the configuration (Parameter).