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How to generate call graph for ROS code?

asked 2012-04-05 00:07:52 -0600

sam gravatar image

For example, I want to analysis roscpp call graph.

Which tools I can use? How?

It will very great if it has graphical interface.

Thank you~

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Can you use doxygen or codeviz?

PKG gravatar image PKG  ( 2012-04-05 20:36:54 -0600 )edit

Thank you. I found that I can use doxywizard to generate each function's call graph,but where is the whole picture call graph? Another question is codeviz should patch compiler,so it seems very hard to work on ROS. How to do it?

sam gravatar image sam  ( 2012-04-05 22:50:59 -0600 )edit

I also found that doxywizard just generate partial call graph. Because I found that the function it generate call graph failed (roscpp init.cpp init() ). Is there any tool can generate complete call graph? Thank you~

sam gravatar image sam  ( 2012-04-05 23:00:27 -0600 )edit

2 Answers

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answered 2012-11-04 10:45:08 -0600

AHornung gravatar image

As with any binary in Linux, you can use valgrind / callgrind to collect the information during run time. A visualizer for the results is e.g.

You can install the package in Ubuntu with

sudo apt-get install valgrind kcachegrind
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answered 2012-11-02 22:00:06 -0600

Bill Smart gravatar image

This isn't really a ROS-specific question, but Stack Overflow has this solution which might be helpful.

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Asked: 2012-04-05 00:07:52 -0600

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Last updated: Nov 04 '12