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Manually modified node graph visualization?

asked 2014-07-05 11:13:59 -0500

myro gravatar image

updated 2014-07-05 18:42:36 -0500


I am new to ROS and I would like to know whether it is possible to get the graph visualization of ROS nodes like in rqt_graph in a file format which can be further modified manually (nodes rearranged, etc.) and printed properly?

Thank you very much myro

EDIT: I simply want a graph file of my current running nodes in order to print the visualization on paper in a proper format. For that, I need some graph description file where i can visually move nodes in order to fit them on a A4-paper. (It also makes sense for documenting the "stack". I cannot influence the layout in rqt_graph.) I do not want to change my actual running nodes/topics. It just would be nice to get a file describing the nodes-graph which can be postprocessed.

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answered 2014-07-06 19:16:07 -0500

kramer gravatar image

rqt_graph has a button (in the upper right corner) to save to a file (specifically, a DOT graph file). The dot file is a text file that you can open with any editor and modify as you wish, then run through dot (part of graphviz software) to put it another format.

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oops. how could i miss those. thanks a lot.

myro gravatar image myro  ( 2014-07-09 21:17:10 -0500 )edit

answered 2014-07-05 11:44:49 -0500

ahendrix gravatar image

The ROS graph is implicit, rather than explicit. There isn't a single file that defines the graph.

Instead, each node has a fixed set of topic types that it subscribes to and publishes, and the topic names can be configured on a per-node basis at runtime through remapping arguments or the remap tag in launch files.

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I think the idea is to get hold of the dot source, to edit that.

gvdhoorn gravatar image gvdhoorn  ( 2014-07-05 12:08:44 -0500 )edit

gvdhoorn is right. I don't want to actually change my running node setup. I just want to get/change a visualization like in rqt_graph, which I can process in some graph program afterwards.

myro gravatar image myro  ( 2014-07-05 18:40:01 -0500 )edit

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Asked: 2014-07-05 11:13:59 -0500

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Last updated: Jul 06 '14