roslaunch-dump

#!/usr/bin/env python
import sys

import roslaunch
import yaml

# parse files
files = roslaunch.rlutil.resolve_launch_arguments(sys.argv[1:])

config = roslaunch.config.ROSLaunchConfig()
loader = roslaunch.xmlloader.XmlLoader()

for f in files:
    loader.load(f, config, verbose = False)

def machine_to_xml(v):
    out = '<machine'
    for s in ['name','address', 'env_loader', 'user', 'password', 'ssh_port', 'timeout']:
        g = getattr(v, s)
        if g is not None:
             out +=' %s="%s"' % (s.replace("_","-"),str(g))
    return out + '/>\n'

params_dict = {} 
for k, v in config.params.items():
    params_dict[str(k)] = v.value

class NoAliasDumper(yaml.SafeDumper):
  ignore_aliases = lambda self, data: True

sys.stdout.write("<launch>\n")
sys.stdout.write("<rosparam>\n")
sys.stdout.write(yaml.dump(params_dict, Dumper=NoAliasDumper).replace("<","&lt;").replace(">","&gt;")) # mask XML tags
sys.stdout.write("</rosparam>\n")

for k,v in config.machines.items():
    if len(k) > 0: # if not local
        sys.stdout.write(machine_to_xml(v))

for n in sorted(config.nodes, key=lambda i: i.namespace+i.name): # sort nodes by resolved name
    sys.stdout.write(n.to_xml()+"\n")

sys.stdout.write("</launch>\n")