Frequently Asked Questions

January 24, 2021 ยท View on GitHub

Model Extraction

Getting model extraction to work requires some setup. If you are running HAROS on a new machine, you may have to go through some errors before it starts running.

KeyError: 'ROS_WORKSPACE'

This error tells that you do not have a catkin workspace, and that the ROS_WORKSPACE environment variable is not set. This variable should be automatically set by the setup.sh script after you install ROS and create a workspace.

http://wiki.ros.org/ROS/EnvironmentVariables#ROS_WORKSPACE http://wiki.ros.org/catkin/Tutorials/create_a_workspace

If you type echo $ROS_WORKSPACE in the same terminal you ran HAROS, you should get back a path.

HAROS cannot find the CMakeLists.txt file

HAROS is a tool for analysis of source code, so you always have to have package source code available.

Also, the code must compile with Clang on your system (you have to have all dependencies of your code installed, but those can be with apt-get).

If you analyse code that is not your own, sometimes you may have to change compiler flags, or some specific small things in the CMake files. This is because most projects are developed with GCC instead of Clang, but it should not be difficult to compile with both.

The Models Only Show Nodes

Make sure you are using the -n option on the analyse or full commands.

Generate a compile_commands.json within your build directory.

You can do it either with catkin or with cmake. Run within your workspace directory:

cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DCMAKE_CXX_COMPILER=/usr/bin/clang++-3.8 src

or

catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DCMAKE_CXX_COMPILER=/usr/bin/clang++-3.8

Other Tips

Make sure ROS knows where the packages you want to analyse are.

Running rospack find YOUR_PACKAGE should point to the directory where the source of the package is.

Make sure the clang and the python bindings versions match (tested with 3.8).

Running pip show clang should print the same version as your libclang installation. If the above command does not work, run python and inside the interpreter run:

import pkg_resources
pkg_resources.get_distribution("clang").version

Make sure HAROS knows where to look for the files. This is optional in most cases.

In the ~/.haros/configs.yaml file make sure that:

  • workspace is pointing to your workspace directory, e.g. /home/me/catkin_ws
  • cpp:parser_lib is pointing to the directory where you have libclang.so installed, e.g. /usr/lib/llvm-3.8/lib
  • cpp:std_includes is pointing to the includes provided by Clang. Should be a couple directories below the above, e.g. /usr/lib/llvm-3.8/lib/clang/3.8.0/include
  • cpp:compile_db is pointing to the directory where your compile_commands.json is, e.g. /home/me/catkin_ws/build