├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── example_graph.png ├── launch_graph ├── __init__.py ├── __pycache__ │ ├── __init__.cpython-312.pyc │ └── generate.cpython-312.pyc └── generate.py ├── package.xml ├── resource └── launch_graph ├── setup.cfg ├── setup.py └── test ├── test_copyright.py ├── test_flake8.py ├── test_pep257.py └── test_xmllint.py /CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | Any contribution that you make to this repository will 2 | be under the Apache 2 License, as dictated by that 3 | [license](http://www.apache.org/licenses/LICENSE-2.0.html): 4 | 5 | ~~~ 6 | 5. Submission of Contributions. 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We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright [yyyy] [name of copyright owner] 190 | 191 | Licensed under the Apache License, Version 2.0 (the "License"); 192 | you may not use this file except in compliance with the License. 193 | You may obtain a copy of the License at 194 | 195 | http://www.apache.org/licenses/LICENSE-2.0 196 | 197 | Unless required by applicable law or agreed to in writing, software 198 | distributed under the License is distributed on an "AS IS" BASIS, 199 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 200 | See the License for the specific language governing permissions and 201 | limitations under the License. 202 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # 🚀 launch_graph 2 | 3 | `launch_graph` is a ROS 2 tool that visualizes the structure of your launch files. It recursively finds included launch files and node actions, then generates a visual graph using Graphviz. 4 | 5 | ![Example Graph](example_graph.png) 6 | 7 | ## 🔍 Usage 8 | 9 | ```bash 10 | ros2 run launch_graph generate 11 | ``` 12 | 13 | This will generate a graph in the specified format using Graphviz. 14 | 15 | | Argument | Description | Default | 16 | | ------------------ | ---------------------------------------- | ---------------------- | 17 | | `` | Path to the ROS 2 launch file to analyze | *(required)* | 18 | | `--format` | Output format: `dot`, `pdf`, or `png` | `png` | 19 | | `--out` | Output file name for the generated graph | `launch_tree.` | 20 | -------------------------------------------------------------------------------- /example_graph.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ijnek/launch_graph/eefa6277b8be7748c04a38b178317aa8bf497847/example_graph.png -------------------------------------------------------------------------------- /launch_graph/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ijnek/launch_graph/eefa6277b8be7748c04a38b178317aa8bf497847/launch_graph/__init__.py -------------------------------------------------------------------------------- /launch_graph/__pycache__/__init__.cpython-312.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ijnek/launch_graph/eefa6277b8be7748c04a38b178317aa8bf497847/launch_graph/__pycache__/__init__.cpython-312.pyc -------------------------------------------------------------------------------- /launch_graph/__pycache__/generate.cpython-312.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ijnek/launch_graph/eefa6277b8be7748c04a38b178317aa8bf497847/launch_graph/__pycache__/generate.cpython-312.pyc -------------------------------------------------------------------------------- /launch_graph/generate.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | # Copyright (c) 2025 Kenji Brameld 4 | # 5 | # Licensed under the Apache License, Version 2.0 (the "License"); 6 | # you may not use this file except in compliance with the License. 7 | # You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, software 12 | # distributed under the License is distributed on an "AS IS" BASIS, 13 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 14 | # See the License for the specific language governing permissions and 15 | # limitations under the License. 16 | 17 | import argparse 18 | import importlib.util 19 | import os 20 | import subprocess 21 | import sys 22 | import tempfile 23 | 24 | from launch import LaunchContext, LaunchDescription 25 | from launch.actions import IncludeLaunchDescription, GroupAction 26 | from launch_ros.actions import Node 27 | 28 | 29 | def resolve_substitutions(subst, context): 30 | try: 31 | if isinstance(subst, list): 32 | return ''.join( 33 | s.perform(context) if hasattr(s, 'perform') else str(s) for s in subst 34 | ) 35 | elif hasattr(subst, 'perform'): 36 | return subst.perform(context) 37 | else: 38 | return str(subst) 39 | except Exception as e: 40 | return f'' 41 | 42 | 43 | def load_launch_description_from_file(path): 44 | spec = importlib.util.spec_from_file_location('launch_module', path) 45 | launch_module = importlib.util.module_from_spec(spec) 46 | sys.modules['launch_module'] = launch_module 47 | spec.loader.exec_module(launch_module) 48 | 49 | if not hasattr(launch_module, 'generate_launch_description'): 50 | raise AttributeError(f'{path} does not define generate_launch_description()') 51 | 52 | return launch_module.generate_launch_description() 53 | 54 | def print_launch_tree(ld: LaunchDescription, indent=0, context=None): 55 | if context is None: 56 | context = LaunchContext() 57 | for action in ld.entities: 58 | print_action_tree(action, indent, context) 59 | 60 | 61 | def print_action_tree(action, indent, context): 62 | prefix = ' ' * indent 63 | 64 | if isinstance(action, IncludeLaunchDescription): 65 | filename = '' 66 | try: 67 | source = action.launch_description_source 68 | if hasattr(source, 'launch_file_path'): 69 | path_str = source.launch_file_path 70 | elif hasattr(source, 'launch_file_path_substitutions'): 71 | path_str = resolve_substitutions(source.launch_file_path_substitutions, context) 72 | elif hasattr(source, 'location'): 73 | path_str = str(source.location) 74 | elif hasattr(source, 'perform'): 75 | path_str = source.perform(context) 76 | else: 77 | path_str = str(source) 78 | filename = os.path.basename(path_str) 79 | except Exception as e: 80 | filename = f'' 81 | 82 | print(prefix + f'Include: {filename}') 83 | 84 | try: 85 | nested_ld = source.get_launch_description(context) 86 | if isinstance(nested_ld, LaunchDescription): 87 | print_launch_tree(nested_ld, indent + 1, context) 88 | else: 89 | print(prefix + f'(Unexpected return type: {type(nested_ld).__name__})') 90 | except Exception as e: 91 | print(prefix + f'(Could not load: {e})') 92 | 93 | elif isinstance(action, Node): 94 | try: 95 | raw_exe = getattr(action, 'node_executable', '') 96 | exe = resolve_substitutions(raw_exe, context) 97 | print(prefix + f'Node: {exe}') 98 | except Exception as e: 99 | print(prefix + f'Node: (error: {e})') 100 | 101 | elif isinstance(action, GroupAction): 102 | print(prefix + 'Group:') 103 | try: 104 | for sub_action in action.get_sub_entities(): 105 | print_action_tree(sub_action, indent + 1, context) 106 | except Exception as e: 107 | print(prefix + f'(Could not evaluate group: {e})') 108 | 109 | 110 | def collect_edges(ld, parent, context=None, edges=None, node_shapes=None): 111 | if context is None: 112 | context = LaunchContext() 113 | if edges is None: 114 | edges = set() 115 | if node_shapes is None: 116 | node_shapes = {} 117 | 118 | node_shapes[parent] = 'box' 119 | 120 | for action in ld.entities: 121 | collect_action_edges(action, parent, context, edges, node_shapes) 122 | 123 | return edges, node_shapes 124 | 125 | 126 | def collect_action_edges(action, parent, context, edges, node_shapes): 127 | if isinstance(action, IncludeLaunchDescription): 128 | try: 129 | source = action.launch_description_source 130 | if hasattr(source, 'launch_file_path'): 131 | path_str = source.launch_file_path 132 | elif hasattr(source, 'launch_file_path_substitutions'): 133 | path_str = resolve_substitutions(source.launch_file_path_substitutions, context) 134 | elif hasattr(source, 'location'): 135 | path_str = str(source.location) 136 | elif hasattr(source, 'perform'): 137 | path_str = source.perform(context) 138 | else: 139 | path_str = str(source) 140 | 141 | filename = os.path.basename(path_str) 142 | edges.add((parent, filename)) 143 | node_shapes[filename] = 'box' 144 | 145 | nested_ld = source.get_launch_description(context) 146 | if isinstance(nested_ld, LaunchDescription): 147 | collect_edges(nested_ld, filename, context, edges, node_shapes) 148 | except Exception: 149 | pass 150 | 151 | elif isinstance(action, Node): 152 | try: 153 | raw_exe = getattr(action, 'node_executable', '') 154 | exe = resolve_substitutions(raw_exe, context) 155 | edges.add((parent, exe)) 156 | node_shapes[exe] = 'ellipse' 157 | except Exception: 158 | pass 159 | 160 | elif isinstance(action, GroupAction): 161 | try: 162 | for sub_action in action.get_sub_entities(): 163 | collect_action_edges(sub_action, parent, context, edges, node_shapes) 164 | except Exception: 165 | pass 166 | 167 | 168 | def generate_dot_content(edges, node_shapes): 169 | lines = [] 170 | lines.append('digraph LaunchTree {') 171 | lines.append(' node [fontname="Arial"];') 172 | lines.append(' rankdir=TB;') 173 | for node, shape in node_shapes.items(): 174 | lines.append(f' "{node}" [shape={shape}];') 175 | for parent, child in sorted(edges): 176 | lines.append(f' "{parent}" -> "{child}";') 177 | lines.append('}') 178 | return '\n'.join(lines) 179 | 180 | 181 | def main(): 182 | parser = argparse.ArgumentParser( 183 | description='Generate a graph from a ROS 2 launch file.' 184 | ) 185 | parser.add_argument( 186 | 'launch_file', help='Path to the ROS 2 launch file (.py) to inspect' 187 | ) 188 | parser.add_argument( 189 | '--out', 190 | help='Output file name (defaults to launch_tree.)', 191 | ) 192 | parser.add_argument( 193 | '--format', 194 | choices=['png', 'pdf', 'dot'], 195 | default='png', 196 | help='Output format (default: png)', 197 | ) 198 | 199 | args = parser.parse_args() 200 | 201 | if not args.out: 202 | args.out = f'launch_tree.{args.format}' 203 | 204 | if not os.path.exists(args.launch_file): 205 | print(f'Error: file does not exist: {args.launch_file}') 206 | sys.exit(1) 207 | 208 | try: 209 | ld = load_launch_description_from_file(args.launch_file) 210 | root = os.path.basename(args.launch_file) 211 | 212 | print(f'Launch Tree for {args.launch_file}:\n') 213 | print_launch_tree(ld) 214 | 215 | edges, node_shapes = collect_edges(ld, parent=root) 216 | dot_content = generate_dot_content(edges, node_shapes) 217 | 218 | if args.format == 'dot': 219 | with open(args.out, 'w') as f: 220 | f.write(dot_content) 221 | print(f'DOT graph written to: {args.out}') 222 | else: 223 | with tempfile.NamedTemporaryFile('w', suffix='.dot', delete=False) as f: 224 | f.write(dot_content) 225 | tmp_dot_path = f.name 226 | 227 | try: 228 | subprocess.run(['dot', f'-T{args.format}', tmp_dot_path, '-o', args.out], 229 | check=True) 230 | print(f'{args.format.upper()} generated at: {args.out}') 231 | except Exception as e: 232 | print(f'Failed to generate {args.format.upper()}: {e}') 233 | finally: 234 | os.remove(tmp_dot_path) 235 | 236 | except Exception as e: 237 | print(f'Error loading launch file: {e}') 238 | sys.exit(1) 239 | 240 | 241 | if __name__ == '__main__': 242 | main() 243 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | launch_graph 5 | 0.0.0 6 | Visualize ROS 2 launch files as graphs 7 | ijnek 8 | Apache License 2.0 9 | 10 | ament_copyright 11 | ament_flake8 12 | ament_pep257 13 | ament_xmllint 14 | python3-pytest 15 | 16 | launch 17 | launch_ros 18 | graphviz 19 | 20 | 21 | ament_python 22 | 23 | 24 | -------------------------------------------------------------------------------- /resource/launch_graph: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ijnek/launch_graph/eefa6277b8be7748c04a38b178317aa8bf497847/resource/launch_graph -------------------------------------------------------------------------------- /setup.cfg: -------------------------------------------------------------------------------- 1 | [develop] 2 | script_dir=$base/lib/launch_graph 3 | [install] 4 | install_scripts=$base/lib/launch_graph 5 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import find_packages, setup 2 | 3 | package_name = 'launch_graph' 4 | 5 | setup( 6 | name=package_name, 7 | version='0.0.0', 8 | packages=find_packages(exclude=['test']), 9 | data_files=[ 10 | ('share/ament_index/resource_index/packages', 11 | ['resource/' + package_name]), 12 | ('share/' + package_name, ['package.xml']), 13 | ], 14 | install_requires=['setuptools'], 15 | zip_safe=True, 16 | maintainer='ijnek', 17 | maintainer_email='kenjibrameld@gmail.com', 18 | description='Visualize ROS 2 launch files as graphs', 19 | license='Apache License 2.0', 20 | tests_require=['pytest'], 21 | entry_points={ 22 | 'console_scripts': [ 23 | 'generate = launch_graph.generate:main', 24 | ], 25 | }, 26 | ) 27 | -------------------------------------------------------------------------------- /test/test_copyright.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_copyright.main import main 16 | import pytest 17 | 18 | 19 | # Remove the `skip` decorator once the source file(s) have a copyright header 20 | @pytest.mark.copyright 21 | @pytest.mark.linter 22 | def test_copyright(): 23 | rc = main(argv=['.', 'test']) 24 | assert rc == 0, 'Found errors' 25 | -------------------------------------------------------------------------------- /test/test_flake8.py: -------------------------------------------------------------------------------- 1 | # Copyright 2017 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_flake8.main import main_with_errors 16 | import pytest 17 | 18 | 19 | @pytest.mark.flake8 20 | @pytest.mark.linter 21 | def test_flake8(): 22 | rc, errors = main_with_errors(argv=[]) 23 | assert rc == 0, \ 24 | 'Found %d code style errors / warnings:\n' % len(errors) + \ 25 | '\n'.join(errors) 26 | -------------------------------------------------------------------------------- /test/test_pep257.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_pep257.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.linter 20 | @pytest.mark.pep257 21 | def test_pep257(): 22 | rc = main(argv=['.', 'test']) 23 | assert rc == 0, 'Found code style errors / warnings' 24 | -------------------------------------------------------------------------------- /test/test_xmllint.py: -------------------------------------------------------------------------------- 1 | # Copyright 2015 Open Source Robotics Foundation, Inc. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_xmllint.main import main 16 | import pytest 17 | 18 | 19 | @pytest.mark.linter 20 | @pytest.mark.xmllint 21 | def test_xmllint() -> None: 22 | rc = main(argv=[]) 23 | assert rc == 0, 'Found code style errors / warnings' 24 | --------------------------------------------------------------------------------