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I've seen that people use rxgraph, but often don't realize they can also use xdot to generate images from a saved .dot file.

roslaunch somepkg somefilename.launch
rxgraph -o somefilename.dot
rosrun xdot xdot.py somefilename.dot

(And you can edit somefilename.dot in realtime which I think is a useful way to generate figures that fit the needs of a paper or a presentation.)

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