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Graph Model

ROS2 Inspector v0.1.0 stores architecture relationships in a directed NetworkX MultiDiGraph. The multigraph preserves valid parallel edges, such as one node both publishing and subscribing to the same topic.

Entity kinds​

  • Package
  • Node
  • Topic
  • Service
  • Action
  • Interface

Every graph node has a stable prefixed ID and attributes such as human-readable name, kind, package, type, and source metadata where applicable.

Relationship attributes​

Edges use the rel attribute, including depends_on, defined_in, publishes, subscribes, provides, calls, and uses_interface. Serialized edges also include source, target, and a stable multigraph key.

CLI graph views​

ViewNodes and relationships
depsPackages and depends_on edges
commsNodes, topics, services, actions, and communication edges
fullComplete UAM graph

Formats​

ros2inspector graph deps --format mermaid
ros2inspector graph comms --format dot -o comms.dot
ros2inspector graph full --format json -o architecture.json

Mermaid is suitable for Markdown, DOT can be rendered with GraphViz, and JSON is intended for scripts and custom tooling.