ROS Architecture Modelling Tools

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Hi There,

We are building up a fairly complex system that consists of 15-20 nodes/nodelets all working together. I was hoping to find an architecture tool to help keep and organized view of the system and plan for future updates. I looked around and found the following:

• BRIDE
• ROSMOD

Bride looks like the easiest to use, but has been abandoned it seems. Some questions that come to mind:

1. Does anyone know of any other tools out there for modelling ROS systems?
2. Has anyone used any of the above or other tools and can provide some feedback?
3. What do you do to keep track of the system architecture when involved in large projects with many team members working on various parts of the system?

Thanks!