Script that generates include graphs from Robot Operating System .launch files.

example.dot

digraph graphname {
    "sim_stage.launch" -> "environment_stage.launch";
    "sim_stage.launch" -> "sim_to_map_stage.launch";
    "navigation_stage.launch" -> "asdf.launch";
    "nav_stack_stage.launch" -> "navigation_stage.launch";
    "nav_stack_stage.launch" -> "tf_robot_base2rel_teleop_wasd.launch";
    "environment_stage.launch" -> "asdf_node.xml";
    "environment_stage.launch" -> "move_base_stage.xml";
    "run_all_stage.launch" -> "sim.launch";
    "run_all_stage.launch" -> "sim_stage.launch";
    "run_all_stage.launch" -> "nav_stack_stage.launch";
    "run_all_stage.launch" -> "teleop_keyboard.launch";
    "run_all_stage.launch" -> "view_sim.launch";
    "tf_robot_base2rel.launch" -> "kinect.launch";
    "tf_robot_base2rel.launch" -> "tf_base_link_to_laser.launch";
    "tf_robot_base2rel_teleop_wasd.launch" -> "teleop_wasd.launch";
    "tf_robot_base2rel_teleop_wasd.launch" -> "tf_robot_base2rel.launch";
}

example.pdf

launch_include_graph.sh

#!/bin/bash

##
# Generates dot graphs launch files/directory given.
#
# @author Bea Adkins
# @date 08-27-2013
#

## Default file regex.
DEFAULT_PATTERN='.*'

usage()
{
    echo "Generates include graphs from ROS .launch files."
    echo "USAGE: $0 [flags] package path(s)"
    echo "Parameters:"
    echo "  package  ROS package."
    echo "  path     File/directory path relative to package. File patterns" 
    echo "             supported (e.g. adsf.launch, *, run*.launch)."
    echo "Flags:"
    echo "  -f          Forces $0 to overwrite outfile."
    echo "  -o outfile  Name of output file."
    echo "  -e pattern  Regex (in quotes) to restrict matching files. Default: '$DEFAULT_PATTERN'."
}

#
# Parse arguments
#

# Default values
OUT_FILE=graph.pdf
PATTERN=$DEFAULT_PATTERN
FORCE=false

# Parse flags
while getopts o:e:f option; do
    case $option in
        f) FORCE=true;;
        o) OUT_FILE=$OPTARG;;
        e) PATTERN=$OPTARG;;
        \?) echo "Invalid option: -$OPTARG." >&2; exit 1;;
        :) echo "Option -$OPTARG requires an argument." >&2; exit 1;;
    esac
done

# Shift flags out of argument list
shift $(expr $OPTIND - 1)

# Insufficient positional arguments
if [ $# -lt 2 ]; then
    usage
    exit 0
fi


#
# Determine paths.
#

# Find absolute package path
PACKAGE=$1
PACKAGE_ROOT=$(rospack find $PACKAGE)
# Abort if not found. Assumes rospack prints its own error message.
if [ -z "$PACKAGE_ROOT" ]; then
    exit 1
fi

# Get file pattern.
LAUNCH_PATH=$PACKAGE_ROOT/$2

# Prepare scratch files
TMP_PATH=/tmp/$(basename $OUT_FILE).dot
TMP_PATH_2=/tmp/$(basename $OUT_FILE)_uniq.dot
rm -f $TMP_PATH $TMP_PATH_2 # Silently clean up, if needed.

#
# Find .launch files.
#

# File exists and is directory, start with files matching pattern in directory
if [ -d "$LAUNCH_PATH" ]; then
    FILES=$(ls -d -1 $LAUNCH_PATH/*.* | grep "$PATTERN")

# File pattern/file.
else
    FILES=$(echo "$LAUNCH_PATH" | grep "$PATTERN")
fi

# Debugging for argument/file path parsing.
# echo "Package: $PACKAGE"
# echo "Package root: $PACKAGE_ROOT"
# echo "Launch path: $LAUNCH_PATH"
# echo "Output file: $OUT_FILE"
# echo "Pattern: $PATTERN"
# echo "Files:"
# for FILE in $FILES; do
#     echo "$FILE"
# done
# exit 0


# No matching files found, fail.
if [ -z "$FILES" ]; then
    # Generate error message.
    MSG="No files found matching '$LAUNCH_PATH'"
#    if [ "$PATTERN" != "$DEFAULT_PATTERN" ]; then
        MSG="$MSG and pattern '$PATTERN'"
#    fi
    MSG="$MSG."

    echo $MSG
    exit 1
fi

# Output file exists, abort if not forced.
if ! $FORCE && [ -f $OUT_FILE ]; then
    echo "Output file '$OUT_FILE' exists!"
    exit 1
fi



#
# Recursively outputs the includes of this file and its children as DOT graph edges.
#
# @param ROS package of file. Only used for printing.
# @param Single absolute file path.
# @param Output file.
#
extract_dot_edges()
{
    #
    # Check parameters
    #

    # Needs one parameter
    if [ $# -lt 3 ]; then
        echo "Insufficient parameters. Given:$#. Needed: 3. Parameters: $@"
        return
    fi
    # Parse parameters, executing file path.
    PACKAGE_NAME=$1
    FILE_PATH="$2"
    OUT_PATH=$3

    # File doesn't exist, return empty
    if [ ! -f $FILE_PATH ]; then
        return
    fi
    
    #
    # Extract includes.
    #
    # 1) grep extracts <include> tags
    # 2) sed strips <!-- XML comments -->
    # 3) sed extracts 'file' attribute of <include> tags
    # 4) sed gets package from "find" commands, placing it in front of the path
    #
    INCLUDES=$(grep "<include.*>" $FILE_PATH | sed -ne '/<!--/ { :c; /-->/! { N; b c; }; /-->/s/<!--.*-->//g }; /^  *$/!p;' | sed 's/ *<include\( \+.*\)* \+file=["\x27]\(.*\)["\x27]\( \+.*\)*\/*>/\2/' | sed 's!\$(find \([a-zA-Z0-9_]\+\))[/\\]!\1::!g' )

    # Dot edges: parent -> child    
    for INCLUDE in $INCLUDES; do
        echo "    \"$PACKAGE_NAME::$(basename $FILE_PATH)\" -> \"$(basename $INCLUDE)\";" >> "$OUT_PATH"
    done

    # Escape condition: no includes found
    if [ -z "$INCLUDES" ]; then
        return
    fi

    # For each include recursively call self
    for INCLUDE in $INCLUDES; do
        INCLUDE_TOK=$(echo $INCLUDE | tr ':' ' ') # Tokenize include by ':'
        INCLUDE_PACKAGE_NAME=$(echo $INCLUDE_TOK | cut -f1 -d\  -)
        INCLUDE_PATH=$(rospack find $INCLUDE_PACKAGE_NAME)/$(echo $INCLUDE_TOK | cut -f2 -d\  -)

        extract_dot_edges "$INCLUDE_PACKAGE_NAME" "$INCLUDE_PATH" "$OUT_PATH"
    done
}

# Start the traversing the tree(s).
for FILE in $FILES; do
    extract_dot_edges $PACKAGE $FILE $TMP_PATH
done
    
# Remove duplicates
sort -u $TMP_PATH > $TMP_PATH_2

#
# Print graph boilerplate
#
echo 'digraph graphname {' > $TMP_PATH
echo '}' | cat $TMP_PATH_2 - >> $TMP_PATH 

# Generate PDF
dot -Tpdf $TMP_PATH -o $OUT_FILE