Shows ros dependency graph of a catkin workspacae

ros_dependency_graph

import xml.etree.ElementTree as ET
import os
import networkx as nx
import matplotlib.pyplot as plt

def parse_package_xml(file_path):
    tree = ET.parse(file_path)
    root = tree.getroot()

    package_name = root.find('name').text
    dependencies = [dep.text for dep in root.findall('depend')] + [exec_dep.text for exec_dep in root.findall('exec_depend')]
    return package_name, list(set(dependencies))  # Remove duplicates


def create_dependency_graph(package_dependencies):
    G = nx.DiGraph()
    # Collect all known package names
    all_packages = set(package_dependencies.keys())

    for package, deps in package_dependencies.items():
        if package.endswith('msgs'):
            continue
        if package not in G:
            G.add_node(package)  # Add package node only if it's a known package

        for dep in deps:
            if dep in all_packages:  # Filter: Add only if dep is also a known package
                if dep.endswith('msgs'):
                    continue
                G.add_node(dep)  # Add dependency node
                G.add_edge(package, dep)  # Add edge from package to dependency
    return G


def main():
    package_dependencies = {}

    for root, dirs, files in os.walk('/path/to/catkin_ws'):
        for file in files:
            if file == 'package.xml':
                file_path = os.path.join(root, file)
                package_name, deps = parse_package_xml(file_path)
                package_dependencies[package_name] = deps

    # Now package_dependencies contains all the dependencies
    dependency_graph = create_dependency_graph(package_dependencies)
    pos = nx.kamada_kawai_layout(dependency_graph)
    plt.figure(figsize=(20, 20))  # Increase the size of the graph
    nx.draw(dependency_graph, pos, with_labels=True, node_size=50, font_size=10)
    plt.show()

if __name__ == "__main__":
    main()