Exports ROS2 nodes (publishers, subcribers and services) into a D2 file so they can be visualised and serialised for later use.
- Export runtime ROS2 system architecture (nodes, services, topics, clients) to .d2 (using
ros2cli
) - Powerful visualisation and theming provided by D2
- Simple serialisable diagram format
- Ros node descriptions pulled from the package.xml
- Topic QOS descriptions
- Action servers / clients?
- Topic Types (
--verbose
flag) - Advanced theming
- Pytest helpers that ensure your ROS2 System architecture matches that of your .d2 diagram
- Better testing on this repo!
-
ros_d2 export-launch-files
command that will export a .d2 file for each of your launch files -
ros_d2 render
command that will render all .d2 files in the current directory
pip install ros-d2
ros_d2 export --help # prints help
# If you get an error about "No module named 'ros2cli'" - ros has not been sourced!
- ROS2 + Colcon
- D2
- Launch your ROS2 system
- Source ROS
- Use
ros_d2
to export your runtime ros system to a .d2 file
ros_d2 export ros-diagram.d2
- Render your diagram using
d2
.
ros_d2 render # to render ALL .d2 files in the current directory
# or...
d2 --layout dagre ros-diagram.d2 # to use d2 directly
If you want to create a .d2
and .svg
alongside each of your ros2 .launch.py
files. You can use the following script:
# Source ros: eg) `source /opt/ros/humble/setup.bash`
# Build your ros2 workspace: eg) `colcon build`
# Source your ros2 workspace: eg) `source install/setup.bash`
ros_d2 export-launch-files
ros_d2 render
following the steps below to setup the project:
```bash
# Clone the repository
git clone git@github.com:Greenroom-Robotics/ros-d2.git && cd ros-d2
# Install all dependencies
pip install -e ./src/ros_d2
From the root of this repo:
- Build this project using colcon
source /opt/ros/galactic/setup.bash
colcon build
ros_d2 --help # prints help
- Let's bring up the example nodes:
source install/setup.sh
ros2 launch ./src/ros_example_adder_node/launch/example_adder_node.launch.py
- Now that ROS is running, lets use
ros_d2
to generate a diagram of all the nodes in the system:
ros_d2 export example_output/ros-diagram.d2
- We will now have the example_output/ros-diagram.d2 file. We can render this using
d2
:
d2 --layout dagre example_output/ros-diagram.d2 example_output/ros-diagram-dagre.svg
# or
d2 --layout elk example_output/ros-diagram.d2 example_output/ros-diagram-dagre.svg
# Note - d2 provides other layouts and themes. See `d2 --help` for more info
This will produce the following diagram:
- We can also export with more info using
ros_d2 export example_output/ros-diagram.d2