copy xdot from https://github.com/jbohren/xdot,

[k-okada]

• system xdot is already released in rosdep key adding xdot to rosdep. ros/rosdistro#4978
• ros xdot needs fix revert necessary imports jbohren/xdot#14
• qt5 support Kinetic qt5 jbohren/xdot#16

I first try to use system xdot, but found there is a significant difference between jbohren/xdot and ubuntu intalled xdot

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< __version__ = "0.4"
< 
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> class ImageShape(Shape):
> 
>     def __init__(self, pen, x0, y0, w, h, path):
>         Shape.__init__(self)
>         self.pen = pen.copy()
>         self.x0 = x0
>         self.y0 = y0
>         self.w = w
>         self.h = h
>         self.path = path
> 
>     def draw(self, cr, highlight=False):
>         cr2 = gtk.gdk.CairoContext(cr)
>         pixbuf = gtk.gdk.pixbuf_new_from_file(self.path)
>         sx = float(self.w)/float(pixbuf.get_width())
>         sy = float(self.h)/float(pixbuf.get_height())
>         cr.save()
>         cr.translate(self.x0, self.y0 - self.h)
>         cr.scale(sx, sy)
>         cr2.set_source_pixbuf(pixbuf, 0, 0)
>         cr2.paint()
>         cr.restore()
> 
> 
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<     def __init__(self, item, x, y, highlight=None, url=None):
---
>     def __init__(self, item, x, y, highlight=None):
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<         self.url = url
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<     def __init__(self, src, dst, points, shapes, url):
---
>     def __init__(self, src, dst, points, shapes):
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<         self.url = url
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<             return Jump(self, self.dst.x, self.dst.y, highlight=set([self, self.dst]),url=self.url)
---
>             return Jump(self, self.dst.x, self.dst.y, highlight=set([self, self.dst]))
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<             return Jump(self, self.src.x, self.src.y, highlight=set([self, self.src]),url=self.url)
---
>             return Jump(self, self.src.x, self.src.y, highlight=set([self, self.src]))
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<     def __init__(self, width=1, height=1, shapes=(), nodes=(), edges=(), subgraph_shapes={}):
---
>     def __init__(self, width=1, height=1, shapes=(), nodes=(), edges=()):
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<         self.subgraph_shapes = subgraph_shapes
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> BOLD = 1
> ITALIC = 2
> UNDERLINE = 4
> SUPERSCRIPT = 8
> SUBSCRIPT = 16
> STRIKE_THROUGH = 32
> 
> 
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<         self.buf = self.unescape(buf)
---
>         self.buf = buf
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<     def unescape(self, buf):
<         buf = buf.replace('\\"', '"')
<         buf = buf.replace('\\n', '\n')
<         return buf
< 
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<     def read_number(self):
<         return int(float(self.read_code()))
---
>     def read_int(self):
>         return int(self.read_code())
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<         x = self.read_number()
<         y = self.read_number()
---
>         x = self.read_float()
>         y = self.read_float()
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<         num = self.read_number()
---
>         num = self.read_int()
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<         n = self.read_number()
---
>         n = self.read_int()
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>         elif c1 == "[":
>             sys.stderr.write('warning: color gradients not supported yet\n')
>             return None
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<         sys.stderr.write("unknown color '%s'\n" % c)
---
>         sys.stderr.write("warning: unknown color '%s'\n" % c)
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<                 elif style in ("solid", "dashed"):
---
>                 elif style in ("solid", "dashed", "dotted"):
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<                 j = s.read_number()
<                 w = s.read_number()
---
>                 j = s.read_int()
>                 w = s.read_float()
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>             elif op == "t":
>                 f = s.read_int()
>                 self.handle_font_characteristics(f)
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<                 w = s.read_number()
<                 h = s.read_number()
---
>                 w = s.read_float()
>                 h = s.read_float()
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<                 w = s.read_number()
<                 h = s.read_number()
---
>                 w = s.read_float()
>                 h = s.read_float()
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>             elif op == "I":
>                 x0, y0 = s.read_point()
>                 w = s.read_float()
>                 h = s.read_float()
>                 path = s.read_text()
>                 self.handle_image(x0, y0, w, h, path)
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<                 sys.stderr.write("unknown xdot opcode '%s'\n" % op)
<                 break
---
>                 sys.stderr.write("error: unknown xdot opcode '%s'\n" % op)
>                 sys.exit(1)
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>         elif style == "dotted":
>             self.pen.dash = (2, 4)       # 2pt on, 4pt off
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>     def handle_font_characteristics(self, flags):
>         # TODO
>         if flags != 0:
>             sys.stderr.write("warning: font characteristics not supported yet\n" % op)
> 
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>     def handle_image(self, x0, y0, w, h, path):
>         self.shapes.append(ImageShape(self.pen, x0, y0, w, h, path))
> 
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<             text = text.replace('\\r', '\r')
<             text = text.replace('\\n', '\n')
<             text = text.replace('\\t', '\t')
<             text = text.replace('\\', '')
---
>             # quotes
>             text = text.replace('\\"', '"')
> 
>             # layout engines recognize other escape codes (many non-standard)
>             # but we don't translate them here
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<         shapes_before = set(self.shapes)
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<         new_shapes = set(self.shapes) - shapes_before
<         self.subgraph_shapes[id] = [s for s in new_shapes if not any([s in ss for ss in self.subgraph_shapes.values()])]
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<         self.subgraph_shapes = {}
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<             self.width = xmax - xmin
<             self.height = ymax - ymin
---
>             self.width  = max(xmax - xmin, 1)
>             self.height = max(ymax - ymin, 1)
1114,1115c1155,1156
<         w = float(attrs['width'])*72
<         h = float(attrs['height'])*72
---
>         w = float(attrs.get('width', 0))*72
>         h = float(attrs.get('height', 0))*72
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<         url = attrs.get('URL', None)
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<             self.edges.append(Edge(src, dst, points, shapes, url))
---
>             self.edges.append(Edge(src, dst, points, shapes))
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<         """
<         for k,shapes in self.subgraph_shapes.iteritems():
<           self.shapes += shapes
<         """
< 
<         return Graph(self.width, self.height, self.shapes, self.nodes, self.edges, self.subgraph_shapes)
---
>         return Graph(self.width, self.height, self.shapes, self.nodes, self.edges)
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>         self.last_mtime = None
> 
>         gobject.timeout_add(1000, self.update)
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<     def set_dotcode(self, dotcode, filename='<stdin>'):
<         if isinstance(dotcode, unicode):
<             dotcode = dotcode.encode('utf8')
---
>     def run_filter(self, dotcode):
>         if not self.filter:
>             return dotcode
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>         sys.stderr.write(error)
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<             print "UNABLE TO SHELL TO DOT", error
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>             return None
>         return xdotcode
> 
>     def set_dotcode(self, dotcode, filename=None):
>         self.openfilename = None
>         if isinstance(dotcode, unicode):
>             dotcode = dotcode.encode('utf8')
>         xdotcode = self.run_filter(dotcode)
>         if xdotcode is None:
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>             if filename is None:
>                 self.last_mtime = None
>             else:
>                 self.last_mtime = os.stat(filename).st_mtime
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<         self.zoom_image(self.zoom_ratio, center=False)
---
>         self.zoom_image(self.zoom_ratio, center=True)
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>     def update(self):
>         if self.openfilename is not None:
>             current_mtime = os.stat(self.openfilename).st_mtime
>             if current_mtime != self.last_mtime:
>                 self.last_mtime = current_mtime
>                 self.reload()
>         return True
> 
1516a1576,1579
>         # Constrain zoom ratio to a sane range to prevent numeric instability.
>         zoom_ratio = min(zoom_ratio, 1E4)
>         zoom_ratio = max(zoom_ratio, 1E-6)
> 
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<         if event.keyval == gtk.keysyms.Page_Up:
---
>         if event.keyval in (gtk.keysyms.Page_Up,
>                             gtk.keysyms.plus,
>                             gtk.keysyms.equal,
>                             gtk.keysyms.KP_Add):
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<         if event.keyval == gtk.keysyms.Page_Down:
---
>         if event.keyval in (gtk.keysyms.Page_Down,
>                             gtk.keysyms.minus,
>                             gtk.keysyms.KP_Subtract):
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>         if event.keyval == gtk.keysyms.p:
>             self.on_print()
>             return True
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>     print_settings = None
>     def on_print(self, action=None):
>         print_op = gtk.PrintOperation()
> 
>         if self.print_settings != None:
>             print_op.set_print_settings(self.print_settings)
> 
>         print_op.connect("begin_print", self.begin_print)
>         print_op.connect("draw_page", self.draw_page)
> 
>         res = print_op.run(gtk.PRINT_OPERATION_ACTION_PRINT_DIALOG, self.parent.parent)
> 
>         if res == gtk.PRINT_OPERATION_RESULT_APPLY:
>             print_settings = print_op.get_print_settings()
> 
>     def begin_print(self, operation, context):
>         operation.set_n_pages(1)
>         #operation.set_support_selection(True)
>         #operation.set_has_selection(True)
>         return True
> 
>     def draw_page(self, operation, context, page_nr):
>         cr = context.get_cairo_context()
> 
>         rect = self.get_allocation()
>         cr.translate(0.5*rect.width, 0.5*rect.height)
>         cr.scale(self.zoom_ratio, self.zoom_ratio)
>         cr.translate(-self.x, -self.y)
> 
>         self.graph.draw(cr, highlight_items=self.highlight)
> 
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>             <toolitem action="Print"/>
1720a1824,1825
>     base_title = 'Dot Viewer'
> 
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<         window.set_title('Dot Viewer')
---
>         window.set_title(self.base_title)
1749a1855
>             ('Print', gtk.STOCK_PRINT, None, None, "Prints the currently visible part of the graph", self.widget.on_print),
1772,1783d1877
<     def update(self, filename):
<         import os
<         if not hasattr(self, "last_mtime"):
<             self.last_mtime = None
< 
<         current_mtime = os.stat(filename).st_mtime
<         if current_mtime != self.last_mtime:
<             self.last_mtime = current_mtime
<             self.open_file(filename,True)
< 
<         return True
< 
1787c1881
<     def set_dotcode(self, dotcode, filename='<stdin>',refresh=False):
---
>     def set_dotcode(self, dotcode, filename=None):
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<             self.set_title(os.path.basename(filename) + ' - Dot Viewer')
<             if not refresh:
<                 self.widget.zoom_to_fit()
---
>             self.update_title(filename)
>             self.widget.zoom_to_fit()
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<     def set_xdotcode(self, xdotcode, filename='<stdin>'):
---
>     def set_xdotcode(self, xdotcode, filename=None):
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<             self.set_title(os.path.basename(filename) + ' - Dot Viewer')
---
>             self.update_title(filename)
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>         
>     def update_title(self, filename=None):
>         if filename is None:
>             self.set_title(self.base_title)
>         else:
>             self.set_title(os.path.basename(filename) + ' - ' + self.base_title)
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<     def open_file(self, filename, refresh=False):
---
>     def open_file(self, filename):
1801c1900
<             self.set_dotcode(fp.read(), filename ,refresh)
---
>             self.set_dotcode(fp.read(), filename)
1807c1906
<             dlg.set_title('Dot Viewer')
---
>             dlg.set_title(self.base_title)
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<         usage='\n\t%prog [file]',
<         version='%%prog %s' % __version__)
---
>         usage='\n\t%prog [file]')
1848a1947,1950
>     parser.add_option(
>         '-n', '--no-filter',
>         action='store_const', const=None, dest='filter',
>         help='assume input is already filtered into xdot format (use e.g. dot -Txdot)')
1857c1959,1962
<     if len(args) >= 1:
---
>     if len(args) == 0:
>         if not sys.stdin.isatty():
>             win.set_dotcode(sys.stdin.read())
>     else:
1862d1966
<             gobject.timeout_add(1000, win.update, args[0])