diff --git a/aos/aos_graph_nodes.cc b/aos/aos_graph_nodes.cc
new file mode 100644
index 0000000..952c6b5
--- /dev/null
+++ b/aos/aos_graph_nodes.cc
@@ -0,0 +1,108 @@
+#include <iostream>
+#include <map>
+
+#include "aos/configuration.h"
+#include "aos/events/shm_event_loop.h"
+#include "aos/init.h"
+#include "aos/json_to_flatbuffer.h"
+#include "gflags/gflags.h"
+
+DEFINE_bool(all, false,
+            "If true, print out the channels for all nodes in the config file, "
+            "not just the channels which are visible on this node.");
+DEFINE_string(config, "./config.json", "File path of aos configuration");
+DEFINE_bool(short_types, true,
+            "Whether to show a shortened version of the type name");
+
+int main(int argc, char **argv) {
+  gflags::SetUsageMessage(
+      "\nCreates graph of nodes and message channels based on the robot config "
+      "file.  \n\n"
+      "To save to file, run as: \n"
+      "\t aos_graph_nodes > /tmp/graph.dot\n\n"
+      "To display graph, run as: \n"
+      "\t aos_graph_nodes | dot -Tx11");
+  aos::InitGoogle(&argc, &argv);
+
+  // Cycle through this list of colors-- here's some defaults.
+  // Can use color names or Hex values of RGB, e.g., red = "#FF0000"
+  std::vector<std::string> color_list = {"red",    "blue",  "orange", "green",
+                                         "violet", "gold3", "magenta"};
+  int color_index = 0;
+
+  std::string channel_name;
+  std::string message_type;
+
+  // Map from source nodes to color for them
+  std::map<std::string, std::string> color_map;
+
+  if (argc > 1) {
+    LOG(ERROR) << "ERROR: Got unexpected arguments\n\n";
+    gflags::ShowUsageWithFlagsRestrict(argv[0], "aos/aos_graph_nodes.cc");
+    return -1;
+  }
+
+  aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+      aos::configuration::ReadConfig(FLAGS_config);
+
+  const aos::Configuration *config_msg = &config.message();
+  aos::ShmEventLoop event_loop(config_msg);
+  event_loop.SkipTimingReport();
+  event_loop.SkipAosLog();
+
+  // Open output file and print header
+  std::stringstream graph_out;
+  graph_out << "digraph g {" << std::endl;
+
+  for (const aos::Channel *channel : *config_msg->channels()) {
+    VLOG(1) << "Found channel " << channel->type()->string_view();
+    if (FLAGS_all || aos::configuration::ChannelIsReadableOnNode(
+                         channel, event_loop.node())) {
+      flatbuffers::string_view type_name = channel->type()->string_view();
+      if (FLAGS_short_types) {
+        // Strip down to just the top level of the message type
+        type_name = channel->type()->string_view().substr(
+            channel->type()->string_view().rfind(".") + 1, std::string::npos);
+      }
+
+      VLOG(1) << "Found: " << channel->name()->string_view() << ' '
+              << channel->type()->string_view();
+
+      CHECK(channel->has_source_node())
+          << ": Could not find source node for channel "
+          << channel->type()->string_view();
+      std::string source_node_name = channel->source_node()->c_str();
+      VLOG(1) << "Source node name:" << channel->source_node()->c_str();
+
+      // If we haven't seen this node yet, add to our list, with new color
+      if (color_map.count(source_node_name) == 0) {
+        color_map[source_node_name] = color_list[color_index];
+        color_index = (color_index + 1) % color_list.size();
+      }
+
+      if (channel->has_destination_nodes()) {
+        for (const aos::Connection *connection :
+             *channel->destination_nodes()) {
+          VLOG(1) << "Destination Node: " << connection->name()->string_view();
+          graph_out << "\t" << source_node_name << " -> "
+                    << connection->name()->c_str() << " [label=\""
+                    << channel->name()->c_str() << "\\n"
+                    << type_name << "\" color=\"" << color_map[source_node_name]
+                    << "\"];" << std::endl;
+        }
+      }
+    }
+  }
+
+  // Write out all the nodes at the end, with their respective colors
+  for (const auto node_color : color_map) {
+    graph_out << "\t" << node_color.first << " [color=\"" << node_color.second
+              << "\"];" << std::endl;
+  }
+
+  // Close out the file
+  graph_out << "}" << std::endl;
+
+  std::cout << graph_out.str();
+  return 0;
+}