Add --save argument

ros-controls · Jan 31, 2025 · 685d0dd · 685d0dd
1 parent 31dca7b
commit 685d0dd
Show file tree

Hide file tree

Showing 2 changed files with 14 additions and 5 deletions.
diff --git a/ros2controlcli/doc/userdoc.rst b/ros2controlcli/doc/userdoc.rst
@@ -320,15 +320,16 @@ view_controller_chains
 .. code-block:: console
 
     $ ros2 control view_controller_chains -h
-    usage: ros2 control view_controller_chains [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...]
+    usage: ros2 control view_controller_chains [-h] [--spin-time SPIN_TIME] [-s] [--save] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] [--ros-args ...]
 
-    Generates a diagram of the loaded chained controllers into /tmp/controller_diagram.gv.pdf
+    Generates a diagram of the loaded chained controllers
 
     options:
       -h, --help            show this help message and exit
       --spin-time SPIN_TIME
                             Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
       -s, --use-sim-time    Enable ROS simulation time
+      --save                Save PDF to controller_diagram.pdf instead of viewing image
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                             Name of the controller manager ROS node (default: controller_manager)
       --include-hidden-nodes

diff --git a/ros2controlcli/ros2controlcli/verb/view_controller_chains.py b/ros2controlcli/ros2controlcli/verb/view_controller_chains.py
@@ -161,9 +161,10 @@ def show_graph(
 
     s.attr(ranksep="2")
     s.attr(rankdir="LR")
-    s.render(view=False)
     if visualize:
         s.view()
+    else:
+        s.render(filename="controller_diagram", view=False, cleanup=True)
 
 
 def parse_response(list_controllers_response, list_hardware_response, visualize=True):
@@ -196,15 +197,22 @@ def parse_response(list_controllers_response, list_hardware_response, visualize=
 
 
 class ViewControllerChainsVerb(VerbExtension):
-    """Generates a diagram of the loaded chained controllers into /tmp/controller_diagram.gv.pdf."""
+    """Generates a diagram of the loaded chained controllers."""
 
     def add_arguments(self, parser, cli_name):
         add_arguments(parser)
+        parser.add_argument(
+            "--save",
+            action="store_true",
+            help="Save PDF to controller_diagram.pdf instead of viewing image",
+        )
         add_controller_mgr_parsers(parser)
 
     def main(self, *, args):
         with NodeStrategy(args).direct_node as node:
             list_controllers_response = list_controllers(node, args.controller_manager)
             list_hardware_response = list_hardware_interfaces(node, args.controller_manager)
-            parse_response(list_controllers_response, list_hardware_response, visualize=False)
+            parse_response(
+                list_controllers_response, list_hardware_response, visualize=not args.save
+            )
             return 0