diagram tool for the design of ros2 packages

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Hi, I need to develop some ROS2 packages for my robot. Before writing each package, I want to draw a diagram for the package relations (e.g. the message, the class calling between them), like a class diagram?

Is there a name for this diagram and is there any tool for this?

The final diagram may look like rqt_graph. But it is designed before every package is prepared.

There seems to be a "package diagram" in starUML. But I'm not sure whether this "package diagram" satisfies .

Thanks for any help!