You can get the names of the nodes on the system with this method: http://docs.ros2.org/ardent/api/rcl/graph_8h.html#a5203dab7ba44e3d4b6005270c674e1ec That is part of our generic C api, unfortunately we don't have that exposed in our C++ API yet, but we will in the future. As for an "object-oriented" data structure with nodes and all of their properties, we don't have that yet either, though there's nothing preventing us from doing that. We haven't exchanged a lot of information about nodes yet, other than what we can collect from DDS already, because we've still got some design work to do on ensuring node name uniqueness and that will impact how we communicate other details about nodes across the graph. --- [Visit Topic](https://discourse.ros.org/t/ros-2-graph/3434/4) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: