# uORB Publication/Subscription Graph

This page provides a uORB publication/subscription graph that shows the communication between modules. It is based on information that is extracted directly from the source code. Usage instructions are provided below.

Search: Preset:

# Graph Properties

The graph has the following properties:

  • Modules are shown in gray with rounded corners while topics are displayed as coloured rectangular boxes.
  • Associated modules and topics are connected by lines. Dashed lines indicate that the module publishes the topic, while solid lines indicate that the module subscribes to the topic.
  • Some modules and topics are excluded:
    • Topics that are subscribed/published by many modules: parameter_update, mavlink_log and log_message.
    • The set of logged topics.
    • Topics that have no subscriber or no publisher.
    • Modules in src/examples.
  • Hovering over a module/topic highlights all its connections.
  • Double-clicking on a topic opens its message definition.
  • Make sure your browser window is wide enough to display the full graph (the sidebar menu can be hidden with the icon in the top-left corner). You can also zoom the image.
  • The Preset selection list allows you to refine the list of modules that are shown.
  • The Search box can be used to find particular modules/topics (topics that are not selected by the search are greyed-out).