How to access the graph data behind rqt_graph

asked 2021-02-21 22:04:18 -0600

oceank gravatar image

Hello,

Is there any good way to save the graph data underneath rqt_graph and use it as later as an input to some other application? Or, is there some API that can help dump the graph data which include the graph structure, node and topic information?

I am interested in discovering the graph of ROS nodes and topics for a given ROS application and then injecting faults into the ROS application based on the uncovered graph. After trying rqt_graph, I get a nice picture describing the expected graph for a running ROS application. But not like structured text, the picture is not good as an input for extracting information from the graph.

Environment: Ubuntu 18.04, ROS Melodic.

Thanks!

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