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If you know which package the binary is hosted in and the package has been released through the ROS buildfarm, you can use index.ros.org to search for it.
See index.ros.org/p/cartographer_ros for the page showing the Crystal version.
On that page there is a link to the source repository called Checkout URI in the Repository Summary section of the page (right under the Package Summary section on the left of the page).
For cartographer_ros that shows ros2/cartographer_ros.git for me.
Following that link -- and changing to the crystal branch -- leads me to the source code for all nodes in that package here.
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