shm_arch.gv

digraph arch {

  // Nodes
  node [shape=box,style=filled,color=white]
  rosnodeMekaInt [label="vrep_meka_interface_node"]
  rosnodeShm [label="shm_hummanoid_node"]
  sharedmem [label="Shared Memory"]

  // Config
  rankdir=LR;
  rank=same rosnodeShm rosnodeMekaInt;

  subgraph clusterROS {
      node [style=filled,color=white];
      style=filled;
      color=lightgrey;
      rosnodeMekaInt -> rosnodeShm [style=dashed, color=black, label="/hummanoid_command"]
      rosnodeShm -> rosnodeMekaInt [style=dashed, color=black, label="/hummanoid_state"]
      label = "ROS";
  }

  subgraph clusterM3 {
      node [style=filled,color=white];
      style=filled;
      color=lightgrey;
      sharedmem;
      label = "M3";
  }

  // Outter Conections
  sharedmem -> rosnodeShm [style=dashed, color=grey]
  rosnodeShm -> sharedmem [style=dashed, color=grey]
}