Is HAROS compatible with ROS2?

No, HAROS is specifically for ROS1 only. The README mentions that development has stopped for this version, and a new ROS2 version is being built separately in another repository.

How to install HAROS on Ubuntu?

Installation methods are detailed in the INSTALL.md file. It typically involves using pip or other package managers, but always check the documentation for up-to-date steps and dependencies.

What kind of bugs does HAROS find in ROS code?

HAROS uses static analysis to detect potential issues like coding standard violations, dependency problems, and structural defects early in development, without needing to run the code.

Can I write custom plugins for HAROS?

Yes, HAROS supports a plugin architecture for custom analysis rules. Refer to the documentation or plugin examples for guidelines on creating and integrating plugins.

HAROS vs. other ROS static analysis tools: which is better?

HAROS is specialized for ROS1 but is no longer maintained, so for active projects, consider alternatives like the new ROS2 version or other tools with ongoing support. Evaluate based on your ROS version and maintenance needs.

How to use HAROS in a CI/CD pipeline?

HAROS can be integrated via command-line commands like 'haros analyse'. Set it up in your pipeline scripts to run automatically, and configure output formats for reporting results in tools like Jenkins or GitHub Actions.

Open-Awesome

haros

MITPythonv3.10.16

Static analysis framework for ROS1 applications to detect software problems early in development.

GitHub

201 stars38 forks0 contributors

What is haros?

HAROS is a static analysis framework for ROS1 applications that extracts information from source code without execution or compilation. It aims to detect software problems early in the development lifecycle, preventing issues from reaching production stages in robotic systems.

Target Audience

ROS1 developers and robotics engineers who need to ensure code quality and reliability in their robotic applications through automated static analysis.

Value Proposition

Developers choose HAROS for its specialized focus on ROS1 static analysis, enabling early detection of defects and integration into the development workflow without requiring code execution.

Overview

H(igh) A(ssurance) ROS - Static analysis of ROS1 application code.

Use Cases

Best For

Performing static code analysis on ROS1 packages
Early detection of software defects in robotic applications
Quality assurance for ROS-based development projects
Integrating automated analysis into ROS1 CI/CD pipelines
Visualizing code metrics and issues in ROS1 systems
Extending analysis capabilities through custom plugins

Not Ideal For

Projects migrating to or built with ROS2, as HAROS is limited to ROS1 and development has ceased
Teams requiring dynamic analysis or runtime testing, since HAROS only performs static analysis without code execution
Developers seeking actively maintained tools with regular updates and community support

Pros & Cons

Pros

Specialized ROS1 Analysis

HAROS is designed specifically for ROS1, providing targeted static analysis that extracts information without execution or compilation, as emphasized in the README.

Plugin Extensibility

Supports a plugin architecture for custom analysis rules, allowing users to extend functionality based on their needs, which enhances adaptability.

Early Defect Detection

Aims to identify software issues early in development, preventing problems from reaching production stages, aligning with its proactive quality assurance philosophy.

Debugging Support

Includes a debug mode with detailed logging for troubleshooting errors, making it easier to diagnose issues when running analyses.

Cons

ROS1-Only Limitation

The README explicitly states this version works only for ROS1 and is no longer being developed, making it obsolete for ROS2 or future ROS versions.

Lack of Maintenance

With development ceased, there may be unresolved bugs, security vulnerabilities, or compatibility issues with newer systems or dependencies.

Static Analysis Only

Limited to static analysis, so it cannot detect runtime errors, performance issues, or dynamic behavior, requiring supplementary testing tools.

Frequently Asked Questions

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