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It depends a bit on what you mean exactly by rosgraph output, but if you're after the kind of diagram that rqt_graph shows, then that would be basically a rendering of a dot graph.

I'm not aware of any stand-alone tools that will render those for you, but a good starting point would be the code in rqt_graph, specifically RosGraph._update_rosgraph(), which calls RosGraph._generate_dotcode() which uses RosGraphDotcodeGenerator.generate_dotgraph(..) to generate the actual dot markup.

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