rostrace

Latches onto a running ROS system and generates a Daikon trace file, recording information regarding the system architecture, messages published on topics, service calls, and parameter values. Based on the approach described by Hengle Jiang in his Masters thesis entitled Invariant Inferring and Monitoring in Robotic Systems.

• does not require source code instrumentation
• messages published on topics are recorded using the rosbag utility.
• records service calls by rerouting all services through a recording node, which publishes details of the service call to the /rec/srvs topic before forwarding the request onto the intended node.

Requirements

• PyYAML