The new build tool colcon which has been introduced with ROS 2 Bouncy does provide a way to output:
- a list of dependencies for a package (
colcon info <pkgname>) - the topological ordered list of packages using “ASCII art” (
colcon graph) - a dot graph to visualize the dependency hierarchy (
colcon graph --dot | dot -Tpng -o deps.png)
For the last two you can narrow the set of shown packages by using --packages-select[-regex] or similar options.