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ROS2 Graph Visualizer

A TypeScript + D3.js application for visualizing ROS2 graphs dynamically. This project provides an interactive interface to visualize, modify, and analyze ROS2 node connections in real-time, with support for hardware differentiation, state/command interfaces, filtering options, and live WebSocket updates.

Features

  1. Real-time Graph Rendering – Uses D3.js to dynamically visualize ROS2 node connections.
  2. WebSocket Updates – Automatically updates the graph as new ROS2 messages arrive.
  3. Node Differentiation –
    • Hardware nodes are rectangles, while others are circles.
    • State interface nodes are green, while others are black.
  4. Edge Types & Colors –
    • Command interface edges are red.
    • State interface edges are blue.
  5. Interactive Graph – Drag nodes, zoom, and pan for better visualization.
  6. Node Metadata – Click a node to view metadata in an alert popup.

Tech Stack

  • Frontend: TypeScript, D3.js
  • Backend: Node.js, TypeScript (WebSocket server for ROS2)
  • Data Format: JSON messages over WebSocket

Setup & Installation

1. Clone the Repository

git clone https://github.com/Vai-Man/ros2-dag-visualizer.git
cd ros2-dag-visualizer

2. Install Dependencies

Backend

cd backend
npm install

Frontend

cd frontend
npm install

3. Run the Application

Start Backend (WebSocket Server)

cd backend
node index.js

Start Frontend (HTML Server)

cd frontend
npm start

Usage

  1. Open the frontend in the browser (http://localhost:5500/ if using Live Server).
  2. The graph updates automatically as WebSocket messages arrive from ROS2.
  3. Click on a node to view metadata.

WebSocket Data Format

The backend listens to ROS2 messages and sends them to the frontend in this JSON format:

Graph Update Message

{
  "start": "A",
  "end": "C",
  "command_interface": true,
  "state_interface": false,
  "is_hardware": true,
  "metadata": "Hardware node example"
}

Explanation of Fields:

  • start / end – Nodes in the graph
  • command_interface – If true, edge is red
  • state_interface – If true, edge is blue
  • is_hardware – If true, the start node is drawn as a rectangle
  • metadata – Additional information (displayed on node click)