Python RIPS monitor prototype.

If you want to change the engine, build the Golang program (https://github.com/DMARCE-PROJECT/rips) and copy the binary to ./bin/rips.

cd $myworkspace
colcon build --packages-select ripspy --symlink-install

You have to set some environment variables before running it:

• RIPRULES: the path for a Rips rules file.

• RIPSCRIPTS: is the path for the directory that contains the scripts required.

For example:

cd $myworkspace
. install/setup.bash
export RIPSRULES=r.rul
export RIPSSCRIPTS=myscripts
ros2 run ripspy ripspy

The ROS2 packages for message types to be inspected by Rips must be properly installed.

Optional environment variables:

• RIPSBLACKLIST: A list of topics seppared by ':'. The monitor will ignore those topics. /rosout is allways in the black list in order to avoid loops.

• RIPSWHITELIST: A list of topics sepparated by ':'. If the variable exists and the list is not empty, the monitor will be subscribed only to those topics (if they are not in the black list).

• RIPSSOCKET: The path for the UNIX domain socket for the engine. If this variable is not set, /tmp/rips.socket is used by default.

• RIPSTEESOCKET: The path for the UNIX domain socket for the dashboard. It must be set if the dashboard is executing.

See:

https://github.com/DMARCE-PROJECT/Documentation/tree/main/WP3/D3.03.RIPS-Technical-Report

You can find several examples in the scenarios directory.