Automatic visualization of Autoware's system

[kenji-miyake]

Hello community members!
I'm recently working on the automatic visualization of Autoware's system.
Although it's still in the prototyping stage, I'll share the outcome so far.

The attached image is the relationship between launch files.
Note: Please download the image if the preview is somewhat strange, for example, "no arrow is drawn".

The command-line interface is like this:

$ ros2 run ros_component_diagram_generator launch2plantuml --ros-args -p launch_command:="ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Downloads/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit rviz:=false"
-> launch.pu is generated

$ plantuml -tsvg launch.pu
-> launch.svg is generated

Next, I'll work on the visualization of node relationships like rqt_graph.
I believe it can replace manually-created node diagrams such as the following ones:

• https://tier4.github.io/autoware-documentation/latest/design/node-diagram/
• https://autowarefoundation.github.io/autoware-documentation/latest/design/autoware-interfaces/components/planning/#planning

Look forward to it! 😄

[mitsudome-r]

@kenji-miyake Are you planning to make the source code for the tool public?

[kenji-miyake]

Yes, of course! But currently, it's not ready for publication. (Needs some refactoring and documentation.)
If someone is interested, I can share it.

[nabetetsu]

It is really interesting for me because I always get lost when trying to follow the node to node path.
I would be happy to help in any way I can.

[lntsh854]

是的当然！但目前，它还没有准备好发布。（需要一些重构和文档。） 如果有人感兴趣，我可以分享。

When will it be released, looking forward to it

[kenji-miyake]

Hmm, actually I'm working on other tasks so hard.
Considering it would be difficult for me to make the code clean enough, so I'll do minimal cleanup and make it public.
But please note that it doesn't have enough documentation and it may not work correctly.

[kenji-miyake]

@lntsh854 Hi, I made the repository public. https://github.com/kenji-miyake/ros_component_diagram_generator
Please also notice that it's my personal project and not supported by the AWF.