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https://github.com/ros2/ros_network_viz


https://github.com/ros2/ros_network_viz

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# rqt_network



This is a utility to visualize the state of an entire ROS 2 network in a graphical way.

This utility will show all of the nodes in a graph, all of the topics, services, and actions that connect them, as well as some additional metadata about them.



 # Install

 

 ```bash

 pip install PyQt5 networkx

 mkdir -p viz_ws/src

 cd viz_ws/src

 git clone https://github.com/ros2/ros_network_viz.git

 cd ..

 colcon build --symlink-install

 . install/setup.bash

 ros2 run ros_network_viz ros_network_viz

 ```



# Features



* [ ] Show a legend/help for describing what everything does

* [x] Allow zooming in or out on the entire scene

* [ ] Have some kind of side panel to show warnings, errors, incompatible QoS, etc.



## Nodes



* [x] Show all nodes in a ROS 2 graph (including those with no topics or services)

* [x] Automatically update the graph as nodes come and go

* [x] Have an option to "pause" automatic graph updates

* [x] Hide hidden nodes by default (with option to turn on)

* [x] Hide rqt_network node by default (with option to turn on)

* [x] Show all parameters and initial parameter values on all nodes

* [x] Update parameters as they change on every node (via /parameter_events)

* [ ] Support parameter updates on nodes that don't have /parameter_events

* [x] Have an automatic layout of nodes that makes sense

* [x] Make the nodes draggable so the user can rearrange the layout

* [x] Show whether a node is a regular Node

* [x] Show whether a node is a LifecycleNode

* [x] Show what Lifecycle state a node is in

* [x] Update Lifecycle states for a node as they change (via /transition_event)

* [ ] Support lifecycle updates on nodes that don't have /transition_events

* [x] Show if a node is a ComponentNode

* [ ] Show the nodes that are inside of a ComponentNode

* [x] Have the ability to select one or more nodes and hide them



## Topics



* [x] Show all of the topics that a node publishes

* [x] Show all of the topics that a node subscribes to

* [x] Draw a line between the published and subscribed topics in the network

* [x] Hide default topics like /parameter_events, /rosout by default (with option to turn on)

* [x] Show the type for each topic

* [x] Show the Quality-of-Service settings for each topic

* [ ] Show the rate (hz) at which a topic is publishing data

* [ ] Show the bandwidth that a topic is using

* [x] Have the ability to hide one or more topics on a node

* [ ] Gracefully handle topics with unknown topic types

* [ ] Show the actual data flowing over a topic



## Services



* [x] Show all of the services that a node provides

* [x] Show all of the services that a node is a client for

* [x] Draw a line between the clients and services in the network

* [x] Hide default services like /describe_parameters, /get_parameter_types, /get_parameters, /list_parameters, /set_parameters, /set_parameters_atomically by default (with option to turn on)

* [x] Show the type for each service

* [ ] Show the Quality-of-Service settings for each service (does this even make sense for a service?)

* [x] Have the ability to hide one or more services on a node

* [ ] Gracefully handle services with unknown topic types



## Actions



* [x] Show all of the actions that a node provides

* [x] Show all of the actions that a node is a client for

* [x] Draw a line between the action clients and action services in the network

* [x] Show the type for each action

* [ ] Show the Quality-of-Service settings for each action (does this even make sense for an action?)

* [x] Have the ability to hide one or more actions on a node

* [ ] Gracefully handle actions with unknown topic types