ros-graph-dump

A tool to dump the relationship of ROS nodes and ROS topics as JSON Graph Format.

Features

• Supports ROS1
• Dumps the graph of ROS nodes and topics
• Filters the graph based on node or topic names
• Outputs the graph in JSON format using NetworkX
• Supports two graph types: node-to-node and node-to-topic

Output

$ rgd
{
  "directed": true,
  "multigraph": false,
  "graph": {},
  "nodes": [
    {
      "label": "/talker",
      "id": "/talker@node"
    },
    {
      "label": "/listener",
      "id": "/listener@node"
    },
    {
      "label": "/rosout",
      "id": "/rosout@node"
    }
  ],
  "links": [
    {
      "label": "/chatter",
      "source": "/talker@node",
      "target": "/listener@node"
    },
    {
      "label": "/rosout",
      "source": "/talker@node",
      "target": "/rosout@node"
    },
    {
      "label": "/rosout",
      "source": "/listener@node",
      "target": "/rosout@node"
    }
  ]
}

Requirements

• Python 3.8+
• ROS1
• poetry (for dependency management)
• ros-noetic-rospy-tutorials (for development)

Installation

1. Clone the repository:

   $ git clone https://github.com/your-username/ros-graph-dump.git
   

2. Navigate to the project directory:

   $ cd ros-graph-dump
   

3. Install rgd and dependencies using pip:

   $ pip install .
   

Usage

To dump the ROS graph, use the following command:

rgd [--filter FILTER] [--output OUTPUT] [--graph-type GRAPH_TYPE]

• --filter FILTER: Filter the graph based on node or topic names (optional)
• --output OUTPUT or -o OUTPUT: Output file path. Use "-" for stdout (default).
• --graph-type GRAPH_TYPE or -t GRAPH_TYPE: Graph type: "nn" (node-to-node) or "nt" (node-to-topic). Default is "nt".

Examples:

# Dump the entire graph to stdout
rgd

# Dump the graph to a file
rgd --output graph.json

# Dump the node-to-node graph
rgd -t nn

# Dump the graph with a filter
rgd --filter /my_node

Running Tests

To run the tests, use the following command:

poetry run pytest tests

License

This project is licensed under the Apache License 2.0.