將launch文件轉換成關係圖-----roslaunch_to_dot

github地址：https://github.com/bponsler/roslaunch_to_dot

從github上面clone下來即可使用

git clone https://github.com/screamlsj/roslaunch_to_dot.git

進入下好的文件夾

運行.py文件，如下

./roslaunch-to-dot.py --png ~/Documents/ros/src/freenect_stack/freenect_launch/launch/kinect-xyz.launch kxyz.dot

效果如下：

更多使用方法見：

 usage: roslaunch-to-dot.py [-h] [--landscape] [--aspect-ratio ASPECTRATIO]
                               [--png] [--svg] [--pdf]
                               [--disable-groups]
                               [--show-node-type]
                               [--show-rosparam-nodes]
                               launchFile outputFile [arg [arg ...]]

    Create a dot graph file from a ROS launch file.

    positional arguments:
      launchFile            path to the desired launch file
      outputFile            the output dot file to save
      arg                   override an arg specified anywhere in the launch file
                            tree

    optional arguments:
      -h, --help            show this help message and exit
      --landscape           display the nodes from left to right instead of top to
                            bottom
      --aspect-ratio ASPECTRATIO
                            the approximate aspect ratio desired (default =
                            8.5/11)
      --png                 automatically convert the dot file to a PNG
      --svg                 automatically convert the dot file to a SVG
      --pdf                 automatically convert the dot file to a PDF
      --disable-groups      don't group nodes/launch files based on their package
      --show-node-type      label ROS nodes with their type in addition to their
                            name
      --show-rosparam-nodes
                            display nodes and connections for all rosparam files
                            used