diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index ce88f5d..db529c0 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -7,15 +7,15 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version_ubuntu-latest: ["3.10", 3.11]
+        python-version: ["3.10", "3.11", "3.12"]
 
     steps:
       - uses: actions/checkout@v4.1.1
 
-      - name: Set up Python ${{ matrix.python-version_ubuntu-latest }}
+      - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v4.7.1
         with:
-          python-version: ${{ matrix.python-version_ubuntu-latest }}
+          python-version: ${{ matrix.python-version }}
 
       - name: Install dependencies
         run: python -m pip install --upgrade pip setuptools wheel
@@ -54,7 +54,7 @@ jobs:
         run: pip install pre-commit
 
       - name: pre-commit cache
-        uses: actions/cache@v3.3.2
+        uses: actions/cache@v4
         with:
           path: ~/.cache/pre-commit
           key: "${{ hashFiles('.pre-commit-config.yaml') }}"
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 185b93d..52116b9 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -2,7 +2,7 @@
 # See https://pre-commit.com/hooks.html for more hooks
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v6.0.0
     hooks:
       - id: trailing-whitespace
       - id: end-of-file-fixer
@@ -10,13 +10,13 @@ repos:
       - id: check-added-large-files
 
   - repo: https://github.com/psf/black
-    rev: 23.11.0
+    rev: 25.9.0
     hooks:
       - id: black
         language: python
         entry: black
 
   - repo: https://github.com/pycqa/flake8
-    rev: "6.1.0"
+    rev: "7.3.0"
     hooks:
       - id: flake8
diff --git a/README.md b/README.md
index db98678..4cb0ead 100644
--- a/README.md
+++ b/README.md
@@ -16,15 +16,22 @@ In addition, the Toolchain offers automatic extractors of the models from the or
 For the static code analysis we made available a web interface able to inspect code hosted on Git and get its model representation as feedback [http://ros-model.seronet-project.de/](http://ros-model.seronet-project.de/).
 
 
-## Install with ROS
+## Install with ROS 2 (Humble or Rolling)
 1. clone this repository into the source folder in your workspace, such as:
    ```
    ws/src/ros2model
    ```
 2. Source ROS workspace
+
+   Humble:
    ```
    source /opt/ros/humble/setup.bash
    ```
+
+   Rolling:
+   ```
+   source /opt/ros/rolling/setup.bash
+   ```
 3. Back to the folder "ws", create and active venv
    ```
    python3 -m venv venv --system-site-packages --symlinks
@@ -44,67 +51,39 @@ For the static code analysis we made available a web interface able to inspect c
    source install/local_setup.bash
    ```
 6. config python path
-   in this case we are using python3.10 in venv
+   adjust the path to match the Python minor version in your virtual environment
    ```
-   export PYTHONPATH=$PYTHONPATH:$(pwd)/venv/lib/python3.10/site-packages/
+   export PYTHONPATH=$PYTHONPATH:$(pwd)/venv/lib/$(python3 -c 'import sys; print(f"python{sys.version_info.major}.{sys.version_info.minor}")')/site-packages/
    ```
 
 ## Run
-1. Create ros node models from a run-time system:
-    ```
-
-    ros2 model node -o test/nodes # it will save generated file in folder "test/nodes"
-    ```
-
-    You can run the command below to get more usage information.
-    ```
-    ros2 model node -h
-    ```
-
-    ```
-    usage: ros2 model node [-h] [--spin-time SPIN_TIME] [-s] [--no-daemon] [-o OUTPUT_FOLDER] [--include_hidden_nodes]
-                        [--include_hidden_interfaces]
-
-    Create .ros2 for each node in a runtime system
-
-    options:
-    -h, --help            show this help message and exit
-    --spin-time SPIN_TIME
-                            Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
-    -s, --use-sim-time    Enable ROS simulation time
-    --no-daemon           Do not spawn nor use an already running daemon
-    -o OUTPUT_FOLDER, --output_folder OUTPUT_FOLDER
-                            The folder for storing the generated models.
-    --include_hidden_nodes
-                            Consider hidden nodes.
-    --include_hidden_interfaces
-                            Consider hidden topics, services or actions.
-    ```
-
-2. Create a ros system model from a run-time system:
-    ```
-    ros2 model system -o test/turtlesim # save the system in test folder and named as "turtlesim.rossystem"
-    ```
-    You can run the command below to get more usage information.
-    ```
-    ros2 model system -h
-    ```
-    ```
-    usage: ros2 model system [-h] [--spin-time SPIN_TIME] [-s] [--no-daemon] [-o OUTPUT_FILE] [--include_hidden_nodes]
-                         [--include_hidden_interfaces]
-
-    Create .rossystem for a runtime system
-
-    options:
-    -h, --help            show this help message and exit
-    --spin-time SPIN_TIME
-                            Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
-    -s, --use-sim-time    Enable ROS simulation time
-    --no-daemon           Do not spawn nor use an already running daemon
-    -o OUTPUT_FILE, --output_file OUTPUT_FILE
-                            The system model file path.
-    --include_hidden_nodes
-                            Consider hidden nodes.
-    --include_hidden_interfaces
-                            Consider hidden topics, services or actions.
-    ```
+### Node models from a running system
+Generate component models for each node discovered at runtime. Use `--include-description` if you need the `robot_description` parameter in the exported file and `--from-launch` to refine package/executable data with launch files.
+```
+ros2 model node -o test/nodes --include-description --from-launch my_pkg/bringup.launch.py
+```
+More options:
+```
+ros2 model node -h
+```
+
+### System model from a running system
+Capture a full `.rossystem` model. The `--include-description` and `--from-launch` flags work the same way as for node models.
+```
+ros2 model system -o test/turtlesim.rossystem --include-description --from-launch turtlesim_gazebo/launch/sim_launch.py
+```
+More options:
+```
+ros2 model system -h
+```
+
+### Interface models from package definitions
+Generate `.ros` models for topics, services, and actions declared in interface packages. Use `--all` to export every available package or pass `-p <package>` multiple times to target specific ones.
+```
+ros2 model msg --all -o test/interfaces
+ros2 model msg -p std_msgs -p geometry_msgs -o test/interfaces
+```
+More options:
+```
+ros2 model msg -h
+```
diff --git a/install.sh b/install.sh
index 5200bfc..2b22eb4 100755
--- a/install.sh
+++ b/install.sh
@@ -1,4 +1,5 @@
 #!/bin/bash
+set -euo pipefail
 
 if [ ! -d venv ]; then
     for p in "py -3.8" "py -3" "python3.8" "python3" "python"; do
@@ -10,11 +11,35 @@ if [ ! -d venv ]; then
     ${pycmd:?Could not determine python executable} -m venv venv
 fi
 
-if [ "$GIT_ACTION" = true ]; then
-    venv/*/pip install -e .
-    venv/*/pip install --find-links wheels -e .
-else
-    venv/*/pip install -e src/ros2model
+shopt -s nullglob
+pip_candidates=(venv/bin/pip venv/*/pip)
+pip_cmd=""
+for candidate in "${pip_candidates[@]}"; do
+    if [ -x "$candidate" ]; then
+        pip_cmd="$candidate"
+        break
+    fi
+done
+shopt -u nullglob
+
+if [ -z "$pip_cmd" ]; then
+    echo "Could not locate pip inside the virtual environment." >&2
+    exit 1
+fi
 
-    venv/*/pip install --find-links wheels -e src/ros2model
+extra_args=()
+if [ -d wheels ] && compgen -G "wheels/*" > /dev/null; then
+    extra_args=(--find-links wheels)
+fi
+
+if [ "${GIT_ACTION:-false}" = true ]; then
+    "$pip_cmd" install -e .
+    if [ "${#extra_args[@]}" -gt 0 ]; then
+        "$pip_cmd" install "${extra_args[@]}" -e .
+    fi
+else
+    "$pip_cmd" install -e src/ros2model
+    if [ "${#extra_args[@]}" -gt 0 ]; then
+        "$pip_cmd" install "${extra_args[@]}" -e src/ros2model
+    fi
 fi
diff --git a/poetry.lock b/poetry.lock
index 132b3c3..81b2503 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,14 +1,15 @@
-# This file is automatically @generated by Poetry 1.8.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 2.1.3 and should not be changed by hand.
 
 [[package]]
 name = "annotated-types"
-version = "0.6.0"
+version = "0.7.0"
 description = "Reusable constraint types to use with typing.Annotated"
 optional = false
 python-versions = ">=3.8"
+groups = ["main"]
 files = [
-    {file = "annotated_types-0.6.0-py3-none-any.whl", hash = "sha256:0641064de18ba7a25dee8f96403ebc39113d0cb953a01429249d5c7564666a43"},
-    {file = "annotated_types-0.6.0.tar.gz", hash = "sha256:563339e807e53ffd9c267e99fc6d9ea23eb8443c08f112651963e24e22f84a5d"},
+    {file = "annotated_types-0.7.0-py3-none-any.whl", hash = "sha256:1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53"},
+    {file = "annotated_types-0.7.0.tar.gz", hash = "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89"},
 ]
 
 [[package]]
@@ -17,6 +18,7 @@ version = "2.4.1"
 description = "Annotate AST trees with source code positions"
 optional = false
 python-versions = "*"
+groups = ["main"]
 files = [
     {file = "asttokens-2.4.1-py2.py3-none-any.whl", hash = "sha256:051ed49c3dcae8913ea7cd08e46a606dba30b79993209636c4875bc1d637bc24"},
     {file = "asttokens-2.4.1.tar.gz", hash = "sha256:b03869718ba9a6eb027e134bfdf69f38a236d681c83c160d510768af11254ba0"},
@@ -26,117 +28,108 @@ files = [
 six = ">=1.12.0"
 
 [package.extras]
-astroid = ["astroid (>=1,<2)", "astroid (>=2,<4)"]
-test = ["astroid (>=1,<2)", "astroid (>=2,<4)", "pytest"]
+astroid = ["astroid (>=1,<2) ; python_version < \"3\"", "astroid (>=2,<4) ; python_version >= \"3\""]
+test = ["astroid (>=1,<2) ; python_version < \"3\"", "astroid (>=2,<4) ; python_version >= \"3\"", "pytest"]
 
 [[package]]
 name = "certifi"
-version = "2024.2.2"
+version = "2025.10.5"
 description = "Python package for providing Mozilla's CA Bundle."
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
+groups = ["main"]
 files = [
-    {file = "certifi-2024.2.2-py3-none-any.whl", hash = "sha256:dc383c07b76109f368f6106eee2b593b04a011ea4d55f652c6ca24a754d1cdd1"},
-    {file = "certifi-2024.2.2.tar.gz", hash = "sha256:0569859f95fc761b18b45ef421b1290a0f65f147e92a1e5eb3e635f9a5e4e66f"},
+    {file = "certifi-2025.10.5-py3-none-any.whl", hash = "sha256:0f212c2744a9bb6de0c56639a6f68afe01ecd92d91f14ae897c4fe7bbeeef0de"},
+    {file = "certifi-2025.10.5.tar.gz", hash = "sha256:47c09d31ccf2acf0be3f701ea53595ee7e0b8fa08801c6624be771df09ae7b43"},
 ]
 
 [[package]]
 name = "charset-normalizer"
-version = "3.3.2"
+version = "3.4.3"
 description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
 optional = false
-python-versions = ">=3.7.0"
+python-versions = ">=3.7"
+groups = ["main"]
 files = [
-    {file = "charset-normalizer-3.3.2.tar.gz", hash = "sha256:f30c3cb33b24454a82faecaf01b19c18562b1e89558fb6c56de4d9118a032fd5"},
-    {file = "charset_normalizer-3.3.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:25baf083bf6f6b341f4121c2f3c548875ee6f5339300e08be3f2b2ba1721cdd3"},
-    {file = "charset_normalizer-3.3.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:06435b539f889b1f6f4ac1758871aae42dc3a8c0e24ac9e60c2384973ad73027"},
-    {file = "charset_normalizer-3.3.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:9063e24fdb1e498ab71cb7419e24622516c4a04476b17a2dab57e8baa30d6e03"},
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 ]
 
 [[package]]
@@ -145,6 +138,7 @@ version = "0.12.2"
 description = "Python's missing debug print command, and more."
 optional = false
 python-versions = ">=3.7"
+groups = ["main"]
 files = [
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@@ -157,38 +151,44 @@ pygments = ">=2.15.0"
 
 [[package]]
 name = "executing"
-version = "2.0.1"
+version = "2.2.1"
 description = "Get the currently executing AST node of a frame, and other information"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.8"
+groups = ["main"]
 files = [
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 ]
 
 [package.extras]
-tests = ["asttokens (>=2.1.0)", "coverage", "coverage-enable-subprocess", "ipython", "littleutils", "pytest", "rich"]
+tests = ["asttokens (>=2.1.0)", "coverage", "coverage-enable-subprocess", "ipython", "littleutils", "pytest", "rich ; python_version >= \"3.11\""]
 
 [[package]]
 name = "idna"
-version = "3.6"
+version = "3.10"
 description = "Internationalized Domain Names in Applications (IDNA)"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.6"
+groups = ["main"]
 files = [
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 ]
 
+[package.extras]
+all = ["flake8 (>=7.1.1)", "mypy (>=1.11.2)", "pytest (>=8.3.2)", "ruff (>=0.6.2)"]
+
 [[package]]
 name = "jinja2"
-version = "3.1.3"
+version = "3.1.6"
 description = "A very fast and expressive template engine."
 optional = false
 python-versions = ">=3.7"
+groups = ["main"]
 files = [
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 ]
 
 [package.dependencies]
@@ -199,272 +199,357 @@ i18n = ["Babel (>=2.7)"]
 
 [[package]]
 name = "markupsafe"
-version = "2.1.5"
+version = "3.0.3"
 description = "Safely add untrusted strings to HTML/XML markup."
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.9"
+groups = ["main"]
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 [package.dependencies]
 certifi = ">=2017.4.17"
-charset-normalizer = ">=2,<4"
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 idna = ">=2.5,<4"
 urllib3 = ">=1.21.1,<3"
 
@@ -474,44 +559,62 @@ use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
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+python-versions = ">=3.9"
+groups = ["main"]
 files = [
-    {file = "typing_extensions-4.10.0-py3-none-any.whl", hash = "sha256:69b1a937c3a517342112fb4c6df7e72fc39a38e7891a5730ed4985b5214b5475"},
-    {file = "typing_extensions-4.10.0.tar.gz", hash = "sha256:b0abd7c89e8fb96f98db18d86106ff1d90ab692004eb746cf6eda2682f91b3cb"},
+    {file = "typing_extensions-4.15.0-py3-none-any.whl", hash = "sha256:f0fa19c6845758ab08074a0cfa8b7aecb71c999ca73d62883bc25cc018c4e548"},
+    {file = "typing_extensions-4.15.0.tar.gz", hash = "sha256:0cea48d173cc12fa28ecabc3b837ea3cf6f38c6d1136f85cbaaf598984861466"},
 ]
 
+[[package]]
+name = "typing-inspection"
+version = "0.4.2"
+description = "Runtime typing introspection tools"
+optional = false
+python-versions = ">=3.9"
+groups = ["main"]
+files = [
+    {file = "typing_inspection-0.4.2-py3-none-any.whl", hash = "sha256:4ed1cacbdc298c220f1bd249ed5287caa16f34d44ef4e9c3d0cbad5b521545e7"},
+    {file = "typing_inspection-0.4.2.tar.gz", hash = "sha256:ba561c48a67c5958007083d386c3295464928b01faa735ab8547c5692e87f464"},
+]
+
+[package.dependencies]
+typing-extensions = ">=4.12.0"
+
 [[package]]
 name = "urllib3"
-version = "2.2.1"
+version = "2.5.0"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
+groups = ["main"]
 files = [
-    {file = "urllib3-2.2.1-py3-none-any.whl", hash = "sha256:450b20ec296a467077128bff42b73080516e71b56ff59a60a02bef2232c4fa9d"},
-    {file = "urllib3-2.2.1.tar.gz", hash = "sha256:d0570876c61ab9e520d776c38acbbb5b05a776d3f9ff98a5c8fd5162a444cf19"},
+    {file = "urllib3-2.5.0-py3-none-any.whl", hash = "sha256:e6b01673c0fa6a13e374b50871808eb3bf7046c4b125b216f6bf1cc604cff0dc"},
+    {file = "urllib3-2.5.0.tar.gz", hash = "sha256:3fc47733c7e419d4bc3f6b3dc2b4f890bb743906a30d56ba4a5bfa4bbff92760"},
 ]
 
 [package.extras]
-brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)"]
+brotli = ["brotli (>=1.0.9) ; platform_python_implementation == \"CPython\"", "brotlicffi (>=0.8.0) ; platform_python_implementation != \"CPython\""]
 h2 = ["h2 (>=4,<5)"]
 socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"]
 zstd = ["zstandard (>=0.18.0)"]
 
 [metadata]
-lock-version = "2.0"
+lock-version = "2.1"
 python-versions = "^3.10"
 content-hash = "1a447d891ec1322a2849001f54b2b6a885d389e389061b492b3133f9343e8b61"
diff --git a/ros2model/api/model_generator/message_generator.py b/ros2model/api/model_generator/message_generator.py
index 9163fb5..5dd78cd 100644
--- a/ros2model/api/model_generator/message_generator.py
+++ b/ros2model/api/model_generator/message_generator.py
@@ -24,8 +24,8 @@
 try:
     from ament_index_python import get_package_share_directory
 
-    Template_Folder_ROS = Path(get_package_share_directory("ros2model") + "/templates")
-    Template_ROS = Path(Template_Folder_ROS / "message.ros2.j2")
+    Template_Folder_ROS = Path(get_package_share_directory("ros2model")) / "templates"
+    Template_ROS = Path(Template_Folder_ROS / "message.ros.j2")
 except ImportError:
     Template_ROS = None
 
diff --git a/ros2model/api/runtime_parser/rosmodel_runtime_parser.py b/ros2model/api/runtime_parser/rosmodel_runtime_parser.py
index a3d6251..ee0fc0e 100644
--- a/ros2model/api/runtime_parser/rosmodel_runtime_parser.py
+++ b/ros2model/api/runtime_parser/rosmodel_runtime_parser.py
@@ -1,4 +1,6 @@
+import os
 import re
+import shutil
 import subprocess
 import ros2model.core.metamodels.metamodel_ros as ROSModel
 from ros2model.core.metamodels.metamodel_ros import set_full_name
@@ -13,11 +15,25 @@
 import ros2model.core.utils as utils
 
 from collections import namedtuple
-from ros2param.api import (
-    call_list_parameters,
-    call_describe_parameters,
-    call_get_parameters,
-)
+
+try:
+    from rclpy.parameter_client import AsyncParameterClient
+except ImportError:
+    AsyncParameterClient = None
+    try:
+        from ros2param.api import (
+            call_list_parameters,
+            call_describe_parameters,
+            call_get_parameters,
+        )
+    except ImportError:
+        call_list_parameters = None
+        call_describe_parameters = None
+        call_get_parameters = None
+else:
+    call_list_parameters = None
+    call_describe_parameters = None
+    call_get_parameters = None
 
 Topic_BlackList = ["/parameter_events", "/rosout"]
 Service_BlackList = [
@@ -34,6 +50,51 @@
 ParameterReg = "^qos_overrides\..*$"
 
 
+def detect_ros_distro():
+    env_distro = os.environ.get("ROS_DISTRO")
+    if env_distro:
+        return env_distro.lower()
+
+    rosversion_bin = shutil.which("rosversion")
+    if rosversion_bin:
+        try:
+            completed = subprocess.run(
+                [rosversion_bin, "-d"], check=False, stdout=subprocess.PIPE
+            )
+            output = completed.stdout.decode("utf-8").strip().lower()
+            return output or None
+        except (OSError, subprocess.SubprocessError):
+            return None
+
+    return None
+
+
+ROS_DISTRO = detect_ros_distro()
+
+PARAMETER_SERVICE_TIMEOUT = 1.0
+
+
+def _with_parameter_client(node, remote_node_name):
+    if AsyncParameterClient is None:
+        return None
+    client = AsyncParameterClient(node, remote_node_name)
+    if not client.wait_for_services(timeout_sec=PARAMETER_SERVICE_TIMEOUT):
+        return None
+    return client
+
+
+def _await_future(node, future):
+    rclpy.spin_until_future_complete(
+        node, future, timeout_sec=PARAMETER_SERVICE_TIMEOUT
+    )
+    if not future.done():
+        return None
+    try:
+        return future.result()
+    except Exception:
+        return None
+
+
 def get_parameter_type_string(parameter_type):
     mapping = {
         ParameterType.PARAMETER_BOOL: "Boolean",
@@ -90,12 +151,14 @@ def parse_interface(
     )
     interface_name = get_interface_name(node.name.namespace, topic_info.name)
 
+    existing = getattr(node, typee)
+    if any(item.name == interface_name for item in existing):
+        return
     interface = ROSModel.InterfaceTypeImpl(
         namespace=node.name.namespace,
         name=interface_name,
         type=topic_info.types[0],
     )
-    # print("get interface:", interface)
     getattr(node, typee).append(interface)
 
 
@@ -114,9 +177,13 @@ def parse_interface_verbose(
         print(
             f"topic name again: {topic_endpoint_info.full_name[len(node.name.namespace) :]}\n"
         )
+        existing = getattr(node, typee)
+        interface_name = set_name(node.name.namespace, topic_endpoint_info.full_name)
+        if any(item.name == interface_name for item in existing):
+            return
         interface = ROSModel.InterfaceTypeImpl(
             namespace=node.name.namespace,
-            name=set_name(node.name.namespace, topic_endpoint_info.full_name),
+            name=interface_name,
             type=topic_endpoint_info.info.topic_type,
             qos=ROSModel.QualityOfService(
                 deadline=topic_endpoint_info.info.qos_profile.deadline.nanoseconds,
@@ -138,10 +205,18 @@ class NodeArgs(BaseModel):
 
 
 class RunTimeNode(ROSModel.Node):
-    pass
+    package: str | None = None
+    executable: str | None = None
 
     def __init__(self, *, node: ROSModel.Node, **data):
         super().__init__(name=node.name, **data)
+        package_name, executable_name = utils.find_process_by_node_name(
+            self.name.name, self.name.namespace
+        )
+        if package_name != "TODO":
+            self.package = package_name
+        if executable_name != "TODO":
+            self.executable = executable_name
 
     class Config:
         arbitrary_types_allowed = True
@@ -253,44 +328,84 @@ def get_action_clients(self, node, include_hidden=False):
             pass
 
     def get_parameters(self, node, include_hidden_nodes=False):
-        # for humble
-        new_proc = subprocess.Popen(["rosversion", "-d"], stdout=subprocess.PIPE)
-        version_str = new_proc.communicate()[0].decode("utf-8").rstrip("\n")
+        version_str = ROS_DISTRO or detect_ros_distro()
 
+        client = None
         sorted_names = []
         if version_str == "humble":
             sorted_names = self.get_parameter_names_humble(node, include_hidden_nodes)
 
-        if version_str == "rolling":
-            response = call_list_parameters(node=node, node_name=self.name.full_name)
-            if response.result() != None:
-                param_names = response.result().result.names
-                sorted_names = sorted(param_names)
+        if version_str != "humble":
+            client = _with_parameter_client(node, self.name.full_name)
+            if client is not None:
+                list_future = client.list_parameters()
+                list_response = _await_future(node, list_future)
+                if list_response is not None and list_response.result is not None:
+                    sorted_names = sorted(list_response.result.names)
+            elif call_list_parameters is not None:
+                response = call_list_parameters(
+                    node=node, node_name=self.name.full_name
+                )
+                if response is not None and response.result() is not None:
+                    param_names = response.result().result.names
+                    sorted_names = sorted(param_names)
 
         regex_filter = re.compile(ParameterReg)
         if len(sorted_names) != 0:
             sorted_names = [
                 name for name in sorted_names if not regex_filter.match(name)
             ]
-            des_resp = call_describe_parameters(
-                node=node,
-                node_name=self.name.full_name,
-                parameter_names=sorted_names,
-            )
+            client = client or _with_parameter_client(node, self.name.full_name)
+            if client is not None:
+                describe_future = client.describe_parameters(sorted_names)
+                describe_response = _await_future(node, describe_future)
 
-            get_parameters_response = call_get_parameters(
-                node=node, node_name=self.name.full_name, parameter_names=sorted_names
-            )
+                get_future = client.get_parameters(sorted_names)
+                get_response = _await_future(node, get_future)
 
-            for param_name, pvalue in zip(sorted_names, get_parameters_response.values):
-                self.parameter.append(
-                    ROSModel.Parameter(
-                        name=param_name,
-                        namespace=self.name.namespace,
-                        type=get_parameter_type_string(pvalue.type),
-                        value=str(utils.get_param_value(pvalue)),
-                    )
+                if (
+                    describe_response is not None
+                    and get_response is not None
+                    and getattr(get_response, "values", None) is not None
+                ):
+                    for param_name, pvalue in zip(sorted_names, get_response.values):
+                        self.parameter.append(
+                            ROSModel.Parameter(
+                                name=param_name,
+                                namespace=self.name.namespace,
+                                type=get_parameter_type_string(pvalue.type),
+                                value=str(utils.get_param_value(pvalue)),
+                            )
+                        )
+            elif (
+                call_describe_parameters is not None and call_get_parameters is not None
+            ):
+                des_resp = call_describe_parameters(
+                    node=node,
+                    node_name=self.name.full_name,
+                    parameter_names=sorted_names,
                 )
+                get_parameters_response = call_get_parameters(
+                    node=node,
+                    node_name=self.name.full_name,
+                    parameter_names=sorted_names,
+                )
+                if (
+                    des_resp is not None
+                    and get_parameters_response is not None
+                    and getattr(get_parameters_response, "values", None) is not None
+                ):
+                    for param_name, pvalue in zip(
+                        sorted_names, get_parameters_response.values
+                    ):
+                        self.parameter.append(
+                            ROSModel.Parameter(
+                                name=param_name,
+                                namespace=self.name.namespace,
+                                type=get_parameter_type_string(pvalue.type),
+                                value=str(utils.get_param_value(pvalue)),
+                            )
+                        )
 
     def get_parameter_names_humble(self, node, include_hidden_nodes=False):
         from rcl_interfaces.srv import ListParameters
diff --git a/ros2model/api/runtime_parser/rossystem_runtime_parser.py b/ros2model/api/runtime_parser/rossystem_runtime_parser.py
index a3e5497..7a01556 100644
--- a/ros2model/api/runtime_parser/rossystem_runtime_parser.py
+++ b/ros2model/api/runtime_parser/rossystem_runtime_parser.py
@@ -1,3 +1,5 @@
+from typing import Dict, Tuple, Optional
+
 from ros2model.api.runtime_parser.rosmodel_runtime_parser import (
     save_to_file,
     get_node_graph_names,
@@ -7,11 +9,60 @@
 from pathlib import Path
 
 
+from pydantic import Field
+
+
 class RuntimeRossystem(ROSModel.Rossystem):
-    pass
+    include_hidden_nodes: bool = Field(default=False, exclude=True)
+    include_hidden_interfaces: bool = Field(default=False, exclude=True)
+    include_description: bool = Field(default=False, exclude=True)
+    launch_mappings: Dict[str, Tuple[str, str]] = Field(
+        default_factory=dict, exclude=True
+    )
+
+    def __init__(
+        self,
+        *,
+        system: ROSModel.Rossystem,
+        include_hidden_nodes: bool = False,
+        include_hidden_interfaces: bool = False,
+        include_description: bool = False,
+        launch_mappings: Optional[Dict[str, Tuple[str, str]]] = None,
+        **data,
+    ):
+        super().__init__(
+            name=system.name,
+            include_hidden_nodes=include_hidden_nodes,
+            include_hidden_interfaces=include_hidden_interfaces,
+            include_description=include_description,
+            launch_mappings=launch_mappings or {},
+            **data,
+        )
 
-    def __init__(self, *, system: ROSModel.Rossystem, **data):
-        super().__init__(name=system.name, **data)
+    def _apply_launch_mapping(self, node: ROSModel.Node):
+        if not self.launch_mappings:
+            return
+        candidate_keys = [
+            getattr(node.name, "full_name", None),
+            (
+                getattr(node.name, "full_name", "").lstrip("/")
+                if getattr(node.name, "full_name", None)
+                else None
+            ),
+            getattr(node.name, "name", None),
+        ]
+        for key in candidate_keys:
+            if not key:
+                continue
+            if key in self.launch_mappings:
+                package, executable = self.launch_mappings[key]
+                if hasattr(node, "package") and package:
+                    if getattr(node, "package", None) in (None, "TODO"):
+                        node.package = package
+                if hasattr(node, "executable") and executable:
+                    if getattr(node, "executable", None) in (None, "TODO"):
+                        node.executable = executable
+                break
 
     def get_nodes(self):
         nodes = get_node_graph_names()
@@ -20,8 +71,18 @@ def get_nodes(self):
             parsed_node = parse(
                 ROSModel.GraphName(
                     name=n.name, namespace=n.namespace, full_name=n.full_name
-                )
+                ),
+                include_hidden_nodes=self.include_hidden_nodes,
+                include_hidden_interfaces=self.include_hidden_interfaces,
             )
+            if not self.include_description:
+                filtered_parameters = [
+                    param
+                    for param in parsed_node.parameter
+                    if param.name != "robot_description"
+                ]
+                parsed_node.parameter = filtered_parameters
+            self._apply_launch_mapping(parsed_node)
             self.nodes.append(parsed_node)
 
 
diff --git a/ros2model/core/utils.py b/ros2model/core/utils.py
index 10c3148..97b2879 100644
--- a/ros2model/core/utils.py
+++ b/ros2model/core/utils.py
@@ -1,18 +1,121 @@
+from pathlib import Path
+
 import psutil
 from rclpy.parameter import Parameter
 from rcl_interfaces.msg import ParameterType
 
 
 def find_process_by_node_name(node_name, namespace):
-    for process in psutil.process_iter(["pid", "cmdline"]):
+    """Best-effort lookup for the package/executable running a given node.
+
+    This inspects the process table and matches processes whose ROS remap arguments
+    or derived executable names align with the provided node name and namespace.
+    """
+
+    def extract_remaps(cmdline):
+        remaps = {}
+        for arg in cmdline:
+            if not isinstance(arg, str):
+                continue
+            if arg.startswith("__node:="):
+                remaps["__node"] = arg.split(":=", 1)[1]
+            elif arg.startswith("__ns:="):
+                value = arg.split(":=", 1)[1]
+                remaps["__ns"] = value if value.startswith("/") else f"/{value}"
+        return remaps
+
+    def extract_package_exec_from_path(path_str):
+        if not path_str or not isinstance(path_str, str):
+            return None, None
+        if "/lib/" not in path_str and "\\lib\\" not in path_str:
+            return None, None
         try:
-            cmdline = process.info["cmdline"]
-            if namespace in str(cmdline) and node_name in str(cmdline):
-                cmdline_list = cmdline[0].split("/")
-                if len(cmdline_list) >= 3:
-                    return cmdline_list[-2], cmdline_list[-1]
+            path = Path(path_str)
+        except (TypeError, ValueError):
+            return None, None
+        parts = path.parts
+        for idx, part in enumerate(parts):
+            if part == "lib" and idx + 2 < len(parts):
+                package = parts[idx + 1]
+                executable = parts[idx + 2]
+                if executable:
+                    return package, executable
+        return None, path.name if path.name else None
+
+    def extract_package_and_executable(cmdline, exe_path):
+        for arg in cmdline:
+            pkg, exe = extract_package_exec_from_path(arg)
+            if pkg or exe:
+                return pkg, exe
+        pkg, exe = extract_package_exec_from_path(exe_path)
+        if exe and exe.startswith("python"):
+            exe = None
+        return pkg, exe
+
+    def possible_node_names(cmdline, exe_path):
+        names = set()
+
+        def add_candidate(value):
+            if not value or not isinstance(value, str):
+                return
+            if value.startswith("-"):
+                return
+            names.add(Path(value).stem)
+
+        if exe_path:
+            add_candidate(exe_path)
+        for arg in cmdline:
+            if not isinstance(arg, str):
+                continue
+            if arg.startswith("__node:="):
+                names.add(arg.split(":=", 1)[1])
+                continue
+            if arg.startswith("__ns:=") or arg in {"--ros-args", "--remap", "-r"}:
+                continue
+            add_candidate(arg)
+        return {name for name in names if name}
+
+    if not namespace:
+        namespace = "/"
+    elif namespace != "/" and not namespace.startswith("/"):
+        namespace = f"/{namespace}"
+
+    for process in psutil.process_iter(["pid", "cmdline", "exe"]):
+        try:
+            cmdline = process.info.get("cmdline") or []
+            exe_path = process.info.get("exe")
         except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess):
-            pass
+            continue
+
+        if not cmdline:
+            continue
+
+        remaps = extract_remaps(cmdline)
+        resolved_node = remaps.get("__node")
+        resolved_ns = remaps.get("__ns")
+
+        if resolved_node and resolved_node != node_name:
+            continue
+
+        if not resolved_ns:
+            try:
+                env_ns = process.environ().get("ROS_NAMESPACE")
+            except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess):
+                env_ns = None
+            resolved_ns = env_ns if env_ns else "/"
+
+        if resolved_ns != namespace:
+            continue
+
+        if not resolved_node:
+            candidate_names = possible_node_names(cmdline, exe_path)
+            if node_name not in candidate_names:
+                continue
+
+        package, executable = extract_package_and_executable(cmdline, exe_path)
+        if package or executable:
+            return package or "TODO", executable or "TODO"
+
     return "TODO", "TODO"
 
 
diff --git a/ros2model/verb/message.py b/ros2model/verb/message.py
new file mode 100644
index 0000000..4c9fd86
--- /dev/null
+++ b/ros2model/verb/message.py
@@ -0,0 +1,225 @@
+from pathlib import Path
+from typing import Iterable, List, Tuple
+
+from rosidl_runtime_py import (
+    get_action_interfaces,
+    get_interface_packages,
+    get_interface_path,
+    get_message_interfaces,
+    get_service_interfaces,
+)
+from rosidl_adapter.parser import (
+    ActionSpecification,
+    MessageSpecification,
+    ServiceSpecification,
+    parse_action_file,
+    parse_message_file,
+    parse_service_file,
+)
+
+import ros2model.core.metamodels.metamodel_ros as ROSModel
+from ros2model.api.model_generator.message_generator import MessageGenerator
+from ros2model.verb import VerbExtension
+
+
+def _format_field_type(field_type) -> str:
+    """
+    Convert a parsed field type to the canonical ROS interface string.
+
+    This ensures message references include the '/msg/' namespace while leaving
+    primitive types and already-qualified types untouched.
+    """
+
+    type_repr = str(field_type)
+    array_suffix = ""
+    array_start = type_repr.find("[")
+    if array_start != -1:
+        array_suffix = type_repr[array_start:]
+        type_repr = type_repr[:array_start]
+    else:
+        array_start = None
+    pkg_name = getattr(field_type, "pkg_name", None)
+    if not pkg_name:
+        return type_repr + array_suffix
+
+    if any(segment in type_repr for segment in ("/msg/", "/srv/", "/action/")):
+        return type_repr + array_suffix
+
+    try:
+        package, name = type_repr.split("/", 1)
+    except ValueError:
+        return type_repr + array_suffix
+
+    return f"{package}/msg/{name}{array_suffix}"
+
+
+def _message_definition_from_spec(
+    message_spec: MessageSpecification,
+) -> ROSModel.MessageDefinition:
+    parts = [
+        ROSModel.MessagePart(type=_format_field_type(field.type), data=field.name)
+        for field in message_spec.fields
+    ]
+    return ROSModel.MessageDefinition(messagePart=parts)
+
+
+def _service_spec_from_spec(
+    spec: ServiceSpecification,
+) -> ROSModel.ServiceSpec:
+    return ROSModel.ServiceSpec(
+        name=spec.srv_name,
+        request=_message_definition_from_spec(spec.request),
+        response=_message_definition_from_spec(spec.response),
+    )
+
+
+def _action_spec_from_spec(spec: ActionSpecification) -> ROSModel.ActionSpec:
+    return ROSModel.ActionSpec(
+        name=spec.action_name,
+        goal=_message_definition_from_spec(spec.goal),
+        result=_message_definition_from_spec(spec.result),
+        feedback=_message_definition_from_spec(spec.feedback),
+    )
+
+
+class MessageVerb(VerbExtension):
+    """Generate .ros models describing ROS interfaces."""
+
+    def add_arguments(self, parser, cli_name):
+        parser.add_argument(
+            "-o",
+            "--output-folder",
+            default=".",
+            required=False,
+            help="Directory where the generated .ros files are stored.",
+        )
+        parser.add_argument(
+            "--all",
+            action="store_true",
+            help="Generate models for every package that declares ROS interfaces.",
+        )
+        parser.add_argument(
+            "-p",
+            "--package",
+            dest="packages",
+            action="append",
+            default=[],
+            help="Generate models only for the given package. "
+            "May be passed multiple times.",
+        )
+
+    def _resolve_packages(
+        self, *, generate_all: bool, packages: Iterable[str]
+    ) -> List[str]:
+        if generate_all:
+            return sorted(get_interface_packages().keys())
+
+        unique = sorted({pkg for pkg in packages if pkg})
+        if not unique:
+            raise RuntimeError(
+                "No package provided. Use --all or supply at least one -p option."
+            )
+        return unique
+
+    def _gather_interfaces(
+        self, package: str
+    ) -> Tuple[List[str], List[str], List[str]]:
+        msg_map = get_message_interfaces([package])
+        srv_map = get_service_interfaces([package])
+        action_map = get_action_interfaces([package])
+        return (
+            sorted(msg_map.get(package, [])),
+            sorted(srv_map.get(package, [])),
+            sorted(action_map.get(package, [])),
+        )
+
+    def main(self, *, args):
+        try:
+            package_names = self._resolve_packages(
+                generate_all=args.all, packages=args.packages
+            )
+        except RuntimeError as exc:
+            print(str(exc))
+            return 1
+
+        output_dir = Path(args.output_folder)
+        if not output_dir.is_absolute():
+            output_dir = output_dir.resolve()
+
+        output_dir.mkdir(parents=True, exist_ok=True)
+
+        generator = MessageGenerator()
+        status = 0
+
+        for package_name in package_names:
+            message_names, service_names, action_names = self._gather_interfaces(
+                package_name
+            )
+            if not (message_names or service_names or action_names):
+                continue
+
+            specs: List[ROSModel.SpecBase] = []
+
+            # Messages
+            for interface in message_names:
+                _, _, msg_name = interface.partition("/")
+                if not msg_name:
+                    continue
+                interface_identifier = f"{package_name}/{interface}"
+                try:
+                    interface_path = get_interface_path(interface_identifier)
+                    parsed = parse_message_file(package_name, interface_path)
+                except (LookupError, OSError, ValueError) as exc:
+                    print(f"[warn] Skipping {interface_identifier}: {exc}")
+                    status = 2
+                    continue
+
+                specs.append(
+                    ROSModel.TopicSpec(
+                        name=msg_name,
+                        message=_message_definition_from_spec(parsed),
+                    )
+                )
+
+            # Services
+            for interface in service_names:
+                _, _, srv_name = interface.partition("/")
+                if not srv_name:
+                    continue
+                interface_identifier = f"{package_name}/{interface}"
+                try:
+                    interface_path = get_interface_path(interface_identifier)
+                    parsed = parse_service_file(package_name, interface_path)
+                except (LookupError, OSError, ValueError) as exc:
+                    print(f"[warn] Skipping {interface_identifier}: {exc}")
+                    status = 2
+                    continue
+
+                specs.append(_service_spec_from_spec(parsed))
+
+            # Actions
+            for interface in action_names:
+                _, _, action_name = interface.partition("/")
+                if not action_name:
+                    continue
+                interface_identifier = f"{package_name}/{interface}"
+                try:
+                    interface_path = get_interface_path(interface_identifier)
+                    parsed = parse_action_file(package_name, interface_path)
+                except (LookupError, OSError, ValueError) as exc:
+                    print(f"[warn] Skipping {interface_identifier}: {exc}")
+                    status = 2
+                    continue
+
+                specs.append(_action_spec_from_spec(parsed))
+
+            if not specs:
+                continue
+
+            ros_package = ROSModel.Package(name=package_name, spec=specs)
+            generator.generate_a_package(
+                rosmodel=ros_package, output_dir=str(output_dir)
+            )
+            print(f"[info] Generated {package_name}.ros")
+
+        return status
diff --git a/ros2model/verb/runtime_node.py b/ros2model/verb/runtime_node.py
index 7647b21..78eb9b7 100644
--- a/ros2model/verb/runtime_node.py
+++ b/ros2model/verb/runtime_node.py
@@ -8,6 +8,7 @@
 from ros2model.api.model_generator.component_generator import ComponentGenerator
 import ros2model.api.runtime_parser.rosmodel_runtime_parser as RuntimeParser
 import ros2model.core.metamodels.metamodel_ros as ROSModel
+from ros2model.verb.runtime_system import _collect_launch_mappings
 
 
 class RuntimeNodeVerb(VerbExtension):
@@ -37,6 +38,22 @@ def add_arguments(self, parser, cli_name):
             required=False,
             help="Consider hidden topics, services or actions.",
         )
+        parser.add_argument(
+            "--include-description",
+            action="store_true",
+            required=False,
+            help="Include robot_description parameters in the generated models.",
+        )
+        parser.add_argument(
+            "--from-launch",
+            nargs="+",
+            default=[],
+            metavar="PACKAGE/LAUNCH_FILE",
+            help=(
+                "Optionally parse launch files to refine package/executable information "
+                "(format: package/relative/path.py)."
+            ),
+        )
 
     def name_component_file(self, grapg_name: ROSModel.GraphName):
         n = grapg_name.name.replace("/", "_")
@@ -53,6 +70,8 @@ def main(self, *, args):
 
         node_generator = ComponentGenerator()
 
+        launch_mapping = _collect_launch_mappings(args.from_launch)
+
         nodes = RuntimeParser.get_node_graph_names()
         for n in nodes:
             node_instance = RuntimeParser.parse(
@@ -62,7 +81,46 @@ def main(self, *, args):
                 args.include_hidden_nodes,
                 args.include_hidden_interfaces,
             )
-            package_name, artifact_name = find_process_by_node_name(n.name, n.namespace)
+            if not args.include_description:
+                node_instance.parameter = [
+                    param
+                    for param in node_instance.parameter
+                    if param.name != "robot_description"
+                ]
+
+            matched_pkg = None
+            matched_exec = None
+            candidate_keys = [
+                node_instance.name.full_name,
+                (
+                    node_instance.name.full_name.lstrip("/")
+                    if node_instance.name.full_name
+                    else None
+                ),
+                node_instance.name.name,
+            ]
+            for key in candidate_keys:
+                if key and key in launch_mapping:
+                    matched_pkg, matched_exec = launch_mapping[key]
+                    break
+
+            package_name = node_instance.package
+            artifact_name = node_instance.executable
+            if matched_pkg:
+                package_name = matched_pkg
+            if matched_exec:
+                artifact_name = matched_exec
+            if package_name is None or artifact_name is None:
+                fallback_pkg, fallback_exec = find_process_by_node_name(
+                    n.name, n.namespace
+                )
+                if package_name is None and fallback_pkg != "TODO":
+                    package_name = fallback_pkg
+                if artifact_name is None and fallback_exec != "TODO":
+                    artifact_name = fallback_exec
+
+            package_name = package_name or "TODO"
+            artifact_name = artifact_name or "TODO"
             runtime_pkg = ROSModel.Package(
                 name=package_name,
                 artifact=[ROSModel.Artifact(name=artifact_name, node=[node_instance])],
diff --git a/ros2model/verb/runtime_system.py b/ros2model/verb/runtime_system.py
index a8251f5..6ee4960 100644
--- a/ros2model/verb/runtime_system.py
+++ b/ros2model/verb/runtime_system.py
@@ -1,4 +1,9 @@
+import ast
+import os
 from pathlib import Path
+from typing import Dict, Optional, Tuple, List
+
+from ament_index_python.packages import get_package_share_directory
 
 from ros2cli.node.strategy import add_arguments
 
@@ -8,6 +13,222 @@
 import ros2model.core.metamodels.metamodel_ros as ROSModel
 
 
+def _literal_eval_or_none(node):
+    if node is None:
+        return None
+    try:
+        return ast.literal_eval(node)
+    except (ValueError, SyntaxError, TypeError):
+        return None
+
+
+def _call_name(call_node: ast.AST) -> str | None:
+    if isinstance(call_node, ast.Name):
+        return call_node.id
+    if isinstance(call_node, ast.Attribute):
+        return call_node.attr
+    return None
+
+
+def _build_full_name(namespace: str | None, name: str | None) -> str | None:
+    if not name:
+        return None
+    if name.startswith("/"):
+        return name
+    if not namespace:
+        return f"/{name}"
+    ns = namespace if namespace.startswith("/") else f"/{namespace}"
+    if ns != "/" and ns.endswith("/"):
+        ns = ns.rstrip("/")
+    return f"{ns}/{name}" if ns != "/" else f"/{name}"
+
+
+def _eval_string(node: ast.AST, base_path: Path) -> Optional[str]:
+    """Attempt to evaluate an AST node into a filesystem path string."""
+    if isinstance(node, ast.Constant) and isinstance(node.value, str):
+        return node.value
+    if isinstance(node, ast.JoinedStr):
+        parts = []
+        for value in node.values:
+            if isinstance(value, ast.Constant) and isinstance(value.value, str):
+                parts.append(value.value)
+            else:
+                return None
+        return "".join(parts)
+    if isinstance(node, ast.Call):
+        func_name = _call_name(node.func)
+        if func_name == "os.path.join":
+            evaluated_parts: List[str] = []
+            for arg in node.args:
+                part = _eval_string(arg, base_path)
+                if part is None:
+                    return None
+                evaluated_parts.append(part)
+            return os.path.join(*evaluated_parts)
+        if func_name == "get_package_share_directory":
+            if not node.args:
+                return None
+            pkg_name = _literal_eval_or_none(node.args[0])
+            if not isinstance(pkg_name, str):
+                return None
+            try:
+                return get_package_share_directory(pkg_name)
+            except LookupError:
+                return None
+        if func_name == "PythonLaunchDescriptionSource":
+            if not node.args:
+                return None
+            return _eval_string(node.args[0], base_path)
+    if isinstance(node, ast.List) and node.elts:
+        evaluated = [_eval_string(elt, base_path) for elt in node.elts]
+        if any(part is None for part in evaluated):
+            return None
+        return os.path.join(*evaluated)  # type: ignore[arg-type]
+    return None
+
+
+class _LaunchNodeExtractor(ast.NodeVisitor):
+    def __init__(self, default_package: Optional[str], base_path: Path):
+        self.default_package = default_package
+        self.base_path = base_path
+        self.mapping: Dict[str, Tuple[str, str]] = {}
+        self.includes: List[Tuple[Path, Optional[str]]] = []
+
+    def _record(self, key, package, executable):
+        if not key or not package or not executable:
+            return
+        self.mapping.setdefault(key, (package, executable))
+
+    def visit_Call(self, node):
+        name = _call_name(node.func)
+        if name == "Node":
+            kwargs = {kw.arg: kw.value for kw in node.keywords if kw.arg}
+            package = (
+                _literal_eval_or_none(kwargs.get("package") or kwargs.get("pkg"))
+                or self.default_package
+            )
+            executable = _literal_eval_or_none(
+                kwargs.get("executable")
+                or kwargs.get("node_executable")
+                or kwargs.get("exec")
+            )
+            node_name = _literal_eval_or_none(
+                kwargs.get("name") or kwargs.get("node_name")
+            )
+            namespace = _literal_eval_or_none(
+                kwargs.get("namespace") or kwargs.get("ns")
+            )
+            full_name = _build_full_name(namespace, node_name)
+            if full_name:
+                self._record(full_name, package, executable)
+            if node_name:
+                self._record(node_name, package, executable)
+        elif name == "IncludeLaunchDescription":
+            candidate_nodes = list(node.args)
+            candidate_nodes.extend(
+                kw.value
+                for kw in node.keywords
+                if kw.arg == "launch_description_source"
+            )
+            for expr in candidate_nodes:
+                path_str = _eval_string(expr, self.base_path)
+                if not path_str:
+                    continue
+                candidate_path = Path(path_str)
+                if not candidate_path.is_absolute():
+                    candidate_path = (self.base_path / candidate_path).resolve()
+                # try to infer package from get_package_share_directory if possible
+                derived_pkg = self.default_package
+                if isinstance(expr, ast.Call):
+                    func_name = _call_name(expr.func)
+                    if func_name == "PythonLaunchDescriptionSource" and expr.args:
+                        inner = expr.args[0]
+                        if (
+                            isinstance(inner, ast.Call)
+                            and _call_name(inner.func) == "os.path.join"
+                        ):
+                            for arg in inner.args:
+                                if (
+                                    isinstance(arg, ast.Call)
+                                    and _call_name(arg.func)
+                                    == "get_package_share_directory"
+                                    and arg.args
+                                ):
+                                    pkg_candidate = _literal_eval_or_none(arg.args[0])
+                                    if isinstance(pkg_candidate, str):
+                                        derived_pkg = pkg_candidate
+                self.includes.append((candidate_path, derived_pkg))
+        self.generic_visit(node)
+
+
+def _extract_nodes_from_launch(
+    path: Path, default_package: Optional[str]
+) -> Tuple[Dict[str, Tuple[str, str]], List[Tuple[Path, Optional[str]]]]:
+    try:
+        source = path.read_text()
+    except OSError:
+        print(f"[warn] Failed to read launch file '{path}'.")
+        return {}, []
+    try:
+        tree = ast.parse(source, filename=str(path))
+    except SyntaxError as exc:
+        print(f"[warn] Could not parse launch file '{path}': {exc}")
+        return {}, []
+    visitor = _LaunchNodeExtractor(default_package, path.parent)
+    visitor.visit(tree)
+    return visitor.mapping, visitor.includes
+
+
+def _collect_launch_mappings(entries) -> Dict[str, Tuple[str, str]]:
+    mapping: Dict[str, Tuple[str, str]] = {}
+    to_process: List[Tuple[Path, Optional[str]]] = []
+    processed: set[Path] = set()
+    for raw_entry in entries or []:
+        if "/" not in raw_entry:
+            print(
+                f"[warn] Ignoring --from-launch entry '{raw_entry}'. "
+                "Expected format 'package/relative_launch_file.py'."
+            )
+            continue
+        package_name, relative_path = raw_entry.split("/", 1)
+        try:
+            share_dir = Path(get_package_share_directory(package_name))
+        except LookupError:
+            print(
+                f"[warn] Package '{package_name}' from --from-launch entry '{raw_entry}' not found."
+            )
+            continue
+        candidate = share_dir / "launch" / relative_path
+        if not candidate.exists():
+            candidate = share_dir / relative_path
+        if not candidate.exists():
+            print(
+                f"[warn] Launch file '{relative_path}' not found in package '{package_name}'."
+            )
+            continue
+        if candidate.suffix != ".py":
+            print(f"[warn] Skipping non-Python launch file '{candidate}'.")
+            continue
+        to_process.append((candidate.resolve(), package_name))
+
+    while to_process:
+        path, pkg_hint = to_process.pop()
+        if path in processed:
+            continue
+        processed.add(path)
+        nodes, includes = _extract_nodes_from_launch(path, pkg_hint)
+        for key, value in nodes.items():
+            mapping.setdefault(key, value)
+        for include_path, include_pkg in includes:
+            if not include_path.exists():
+                print(f"[warn] Included launch file '{include_path}' not found.")
+                continue
+            if include_path.suffix != ".py":
+                continue
+            to_process.append((include_path.resolve(), include_pkg or pkg_hint))
+    return mapping
+
+
 class RuntimeVerb(VerbExtension):
     """Create .rossystem for a runtime system"""
 
@@ -35,6 +256,22 @@ def add_arguments(self, parser, cli_name):
             required=False,
             help="Consider hidden topics, services or actions.",
         )
+        parser.add_argument(
+            "--include-description",
+            action="store_true",
+            required=False,
+            help="Include robot_description parameters in the output.",
+        )
+        parser.add_argument(
+            "--from-launch",
+            nargs="+",
+            default=[],
+            metavar="PACKAGE/LAUNCH_FILE",
+            help=(
+                "Optionally parse one or more launch files to refine package/executable "
+                "information (format: package/relative/path.py)."
+            ),
+        )
 
     def main(self, *, args):
         output_file = Path(args.output_file)
@@ -43,9 +280,14 @@ def main(self, *, args):
             output_file = output_file.resolve()
 
         generator = SystemGenerator()
+        launch_mapping = _collect_launch_mappings(args.from_launch)
 
         system = RuntimeParser.RuntimeRossystem(
-            system=ROSModel.Rossystem(name=system_name)
+            system=ROSModel.Rossystem(name=system_name),
+            include_hidden_nodes=args.include_hidden_nodes,
+            include_hidden_interfaces=args.include_hidden_interfaces,
+            include_description=args.include_description,
+            launch_mappings=launch_mapping,
         )
         system.get_nodes()
 
diff --git a/setup.py b/setup.py
index 5541e5f..1d181d2 100644
--- a/setup.py
+++ b/setup.py
@@ -29,7 +29,11 @@
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         (
             "share/" + package_name + "/templates",
-            ["templates/component.ros2.j2", "templates/rossystem.rossystem.j2"],
+            [
+                "templates/component.ros2.j2",
+                "templates/rossystem.rossystem.j2",
+                "templates/message.ros.j2",
+            ],
         ),
     ],
     install_requires=[
@@ -57,6 +61,7 @@
         "ros2model.verb": [
             "node = ros2model.verb.runtime_node:RuntimeNodeVerb",
             "system = ros2model.verb.runtime_system:RuntimeVerb",
+            "msg = ros2model.verb.message:MessageVerb",
         ],
     },
 )
diff --git a/templates/component.ros2.j2 b/templates/component.ros2.j2
index c77750c..d257e10 100644
--- a/templates/component.ros2.j2
+++ b/templates/component.ros2.j2
@@ -3,7 +3,7 @@
   {% for artifact in model.artifact %}
     {{ artifact.name }}:
       {% for node in artifact.node %}
-      node: {{ node.name.full_name }}
+      node: {{ node.name.full_name.lstrip('/') }}
       {% if node.publisher | length >0 %}
       publishers:
         {% for interface in node.publisher %}
diff --git a/templates/message.ros.j2 b/templates/message.ros.j2
index 1d64532..8790cfb 100644
--- a/templates/message.ros.j2
+++ b/templates/message.ros.j2
@@ -4,9 +4,22 @@
 {% for spec in model.topics() %}
     {{ spec.name }}
         message
-        {% for part in spec.message.messagePart %}
-            {{ part.type }} {{ part.data }}
-        {% endfor %}
+{% for part in spec.message.messagePart %}
+{% set type_str = part.type %}
+{% if '/' in type_str %}
+{% set parts = type_str.split('[', 1) %}
+{% if parts|length > 1 %}
+{% set base = parts[0] %}
+{% set suffix = '[' ~ parts[1] %}
+{% else %}
+{% set base = type_str %}
+{% set suffix = '' %}
+{% endif %}
+            "{{ base }}"{{ suffix }} {{ part.data }}
+{% else %}
+            {{ type_str }} {{ part.data }}
+{% endif %}
+{% endfor %}
 {% endfor %}
 {% endif %}
 {% if model.services()|length > 0 %}
@@ -14,34 +27,99 @@
 {% for spec in model.services() %}
     {{ spec.name }}
         request
-        {% if spec.request != None %}
-        {% for part in spec.request.messagePart %}
-            {{ part.type }} {{ part.data }}
-        {% endfor %}
-        {% endif %}
+{% if spec.request != None %}
+{% for part in spec.request.messagePart %}
+{% set type_str = part.type %}
+{% if '/' in type_str %}
+{% set parts = type_str.split('[', 1) %}
+{% if parts|length > 1 %}
+{% set base = parts[0] %}
+{% set suffix = '[' ~ parts[1] %}
+{% else %}
+{% set base = type_str %}
+{% set suffix = '' %}
+{% endif %}
+            "{{ base }}"{{ suffix }} {{ part.data }}
+{% else %}
+            {{ type_str }} {{ part.data }}
+{% endif %}
+{% endfor %}
+{% endif %}
         response
-        {% for part in spec.response.messagePart %}
-            {{ part.type }} {{ part.data }}
-        {% endfor %}
+{% for part in spec.response.messagePart %}
+{% set type_str = part.type %}
+{% if '/' in type_str %}
+{% set parts = type_str.split('[', 1) %}
+{% if parts|length > 1 %}
+{% set base = parts[0] %}
+{% set suffix = '[' ~ parts[1] %}
+{% else %}
+{% set base = type_str %}
+{% set suffix = '' %}
+{% endif %}
+            "{{ base }}"{{ suffix }} {{ part.data }}
+{% else %}
+            {{ type_str }} {{ part.data }}
+{% endif %}
+{% endfor %}
 {% endfor %}
 {% endif %}
-{% if model.services()|length > 0 %}
+{% if model.actions()|length > 0 %}
   actions:
 {% for spec in model.actions() %}
     {{ spec.name }}
         goal
-        {% for part in spec.goal.messagePart %}
-            {{ part.type }} {{ part.data }}
-        {% endfor %}
+{% for part in spec.goal.messagePart %}
+{% set type_str = part.type %}
+{% if '/' in type_str %}
+{% set parts = type_str.split('[', 1) %}
+{% if parts|length > 1 %}
+{% set base = parts[0] %}
+{% set suffix = '[' ~ parts[1] %}
+{% else %}
+{% set base = type_str %}
+{% set suffix = '' %}
+{% endif %}
+            "{{ base }}"{{ suffix }} {{ part.data }}
+{% else %}
+            {{ type_str }} {{ part.data }}
+{% endif %}
+{% endfor %}
         result
-        {% for part in spec.result.messagePart %}
-            {{ part.type }} {{ part.data }}
-        {% endfor %}
+{% for part in spec.result.messagePart %}
+{% set type_str = part.type %}
+{% if '/' in type_str %}
+{% set parts = type_str.split('[', 1) %}
+{% if parts|length > 1 %}
+{% set base = parts[0] %}
+{% set suffix = '[' ~ parts[1] %}
+{% else %}
+{% set base = type_str %}
+{% set suffix = '' %}
+{% endif %}
+            "{{ base }}"{{ suffix }} {{ part.data }}
+{% else %}
+            {{ type_str }} {{ part.data }}
+{% endif %}
+{% endfor %}
         feedback
-        {% if spec.feedback != None %}
-        {% for part in spec.feedback.messagePart %}
-            {{ part.type }} {{ part.data }}
-        {% endfor %}
-        {% endif %}
+{% if spec.feedback != None %}
+{% for part in spec.feedback.messagePart %}
+{% set type_str = part.type %}
+{% if '/' in type_str %}
+{% set parts = type_str.split('[', 1) %}
+{% if parts|length > 1 %}
+{% set base = parts[0] %}
+{% set suffix = '[' ~ parts[1] %}
+{% else %}
+{% set base = type_str %}
+{% set suffix = '' %}
+{% endif %}
+            "{{ base }}"{{ suffix }} {{ part.data }}
+{% else %}
+            {{ type_str }} {{ part.data }}
+{% endif %}
+{% endfor %}
+{% endif %}
 {% endfor %}
 {% endif %}
diff --git a/templates/rossystem.rossystem.j2 b/templates/rossystem.rossystem.j2
index ff3c5da..57db731 100644
--- a/templates/rossystem.rossystem.j2
+++ b/templates/rossystem.rossystem.j2
@@ -1,33 +1,55 @@
 {{ model.name }}:
   nodes:
+  {% set collected = namespace(pub=[], sub=[], srv_server=[], srv_client=[], action_server=[], action_client=[]) %}
   {% for node in model.nodes %}
-    "{{ node.name.full_name }}":
-      from: "TODO.{{ node.name.full_name }}"
-      {% if node.publisher | length > 0 or node.subscriber | length > 0 or node.actionserver | length > 0 or node.actionclient | length > 0 or node.serviceserver | length > 0 or node.serviceclient | length > 0%}
+    {% set pkg_attr = node|attr('package') %}
+    {% set pkg = pkg_attr if pkg_attr is not undefined and pkg_attr else 'TODO' %}
+    {% set node_identifier = node.name.full_name.lstrip('/') %}
+    {% set exec_attr = node|attr('executable') %}
+    {% set exec_name = exec_attr if exec_attr is not undefined and exec_attr else (node_identifier.lstrip('/') if node_identifier else '') %}
+    {% if exec_name == '' %}
+      {% set exec_name = node_identifier %}
+    {% endif %}
+    {% set publisher_names = node.publisher | map(attribute='name') | list %}
+    "{{ node_identifier }}":
+      from: "{{ pkg }}.{{ exec_name }}"
+      {% set has_interfaces = node.publisher | length > 0 or node.subscriber | length > 0 or node.actionserver | length > 0 or node.actionclient | length > 0 or node.serviceserver | length > 0 or node.serviceclient | length > 0 %}
+      {% if has_interfaces %}
       interfaces:
-      {% for interface in node.publisher %}
-      	- "{{ interface.name }}": pub-> "TODO::{{ interface.name }}"
-      {% endfor %}
-      {% for interface in node.subscriber %}
-      	- "{{ interface.name }}": sub-> "TODO::{{ interface.name }}"
-      {% endfor %}
-      {% for interface in node.actionserver %}
-      	- "{{ interface.name }}": as-> "TODO::{{ interface.name }}"
-      {% endfor %}
-      {% for interface in node.actionclient %}
-      	- "{{ interface.name }}": ac-> "TODO::{{ interface.name }}"
-      {% endfor %}
-      {% for interface in node.serviceserver %}
-      	- "{{ interface.name }}": ss-> "TODO::{{ interface.name }}"
-      {% endfor %}
-      {% for interface in node.serviceclient %}
-      	- "{{ interface.name }}": sc-> "TODO::{{ interface.name }}"
-      {% endfor %}
+        {% for interface in node.publisher %}
+          {% set collected.pub = collected.pub + [{'topic': interface.full_name, 'display': interface.name, 'type': interface.type, 'node': node_identifier}] %}
+        - "{{ interface.name }}": pub-> "{{ exec_name }}::{{ interface.name }}"
+        {% endfor %}
+        {% for interface in node.subscriber %}
+          {% if interface.name in publisher_names %}
+            {% set sub_display = 'sub_' ~ interface.name %}
+          {% else %}
+            {% set sub_display = interface.name %}
+          {% endif %}
+          {% set collected.sub = collected.sub + [{'topic': interface.full_name, 'display': sub_display, 'type': interface.type, 'node': node_identifier}] %}
+        - "{{ sub_display }}": sub-> "{{ exec_name }}::{{ interface.name }}"
+        {% endfor %}
+        {% for interface in node.actionserver %}
+          {% set collected.action_server = collected.action_server + [{'topic': interface.full_name, 'display': interface.name, 'type': interface.type, 'node': node_identifier}] %}
+        - "{{ interface.name }}": as-> "{{ exec_name }}::{{ interface.name }}"
+        {% endfor %}
+        {% for interface in node.actionclient %}
+          {% set collected.action_client = collected.action_client + [{'topic': interface.full_name, 'display': interface.name, 'type': interface.type, 'node': node_identifier}] %}
+        - "{{ interface.name }}": ac-> "{{ exec_name }}::{{ interface.name }}"
+        {% endfor %}
+        {% for interface in node.serviceserver %}
+          {% set collected.srv_server = collected.srv_server + [{'topic': interface.full_name, 'display': interface.name, 'type': interface.type, 'node': node_identifier}] %}
+        - "{{ interface.name }}": ss-> "{{ exec_name }}::{{ interface.name }}"
+        {% endfor %}
+        {% for interface in node.serviceclient %}
+          {% set collected.srv_client = collected.srv_client + [{'topic': interface.full_name, 'display': interface.name, 'type': interface.type, 'node': node_identifier}] %}
+        - "{{ interface.name }}": sc-> "{{ exec_name }}::{{ interface.name }}"
+        {% endfor %}
       {% endif %}
       {% if node.parameter | length > 0 %}
       parameters:
         {% for parameter in node.parameter %}
-        - {{ parameter.name }}: "{{ node.name.full_name }}.{{ parameter.name }}"
+        - "{{ parameter.name }}": "{{ exec_name }}::{{ parameter.name }}"
           {% if parameter.type == "String" %}
           value: "{{ parameter.value }}"
           {% elif parameter.type == "Boolean" %}
@@ -38,3 +60,31 @@
         {% endfor %}
       {% endif %}
   {% endfor %}
+  {% set connections = namespace(items=[]) %}
+  {% for pub in collected.pub %}
+    {% for sub in collected.sub %}
+      {% if pub.topic == sub.topic and pub.type == sub.type %}
+        {% set connections.items = connections.items + [[pub.node ~ '.' ~ pub.display, sub.node ~ '.' ~ sub.display]] %}
+      {% endif %}
+    {% endfor %}
+  {% endfor %}
+  {% for srv in collected.srv_server %}
+    {% for client in collected.srv_client %}
+      {% if srv.topic == client.topic and srv.type == client.type %}
+        {% set connections.items = connections.items + [[srv.node ~ '.' ~ srv.display, client.node ~ '.' ~ client.display]] %}
+      {% endif %}
+    {% endfor %}
+  {% endfor %}
+  {% for action_srv in collected.action_server %}
+    {% for action_client in collected.action_client %}
+      {% if action_srv.topic == action_client.topic and action_srv.type == action_client.type %}
+        {% set connections.items = connections.items + [[action_srv.node ~ '.' ~ action_srv.display, action_client.node ~ '.' ~ action_client.display]] %}
+      {% endif %}
+    {% endfor %}
+  {% endfor %}
+  {% if connections.items %}
+  connections:
+  {% for pair in connections.items %}
+    - ["{{ pair[0] }}", "{{ pair[1] }}"]
+  {% endfor %}
+  {% endif %}
diff --git a/test/outputs/test_model.ros2 b/test/outputs/test_model.ros2
index 1d1fd29..fcaf14f 100644
--- a/test/outputs/test_model.ros2
+++ b/test/outputs/test_model.ros2
@@ -1,7 +1,7 @@
 test_model:
   artifacts:
     map_server:
-      node: /map_server
+      node: map_server
       publishers:
         'map_metadata':
           type: 'nav_msgs/msg/MapMetaData'
diff --git a/test/outputs/test_system.rossystem b/test/outputs/test_system.rossystem
index 4ad2bf9..dce184c 100644
--- a/test/outputs/test_system.rossystem
+++ b/test/outputs/test_system.rossystem
@@ -1,14 +1,17 @@
 test_system:
   nodes:
-    "/map_server":
-      from: "TODO./map_server"
+    "map_server":
+      from: "TODO.map_server"
       interfaces:
-      	- "map_metadata": pub-> "TODO::map_metadata"
-      	- "map": pub-> "TODO::map"
-      	- "static_map": as-> "TODO::static_map"
-      	- "static_map": ac-> "TODO::static_map"
-      	- "static_map": ss-> "TODO::static_map"
-      	- "static_map": sc-> "TODO::static_map"
+        - "map_metadata": pub-> "map_server::map_metadata"
+        - "map": pub-> "map_server::map"
+        - "static_map": as-> "map_server::static_map"
+        - "static_map": ac-> "map_server::static_map"
+        - "static_map": ss-> "map_server::static_map"
+        - "static_map": sc-> "map_server::static_map"
       parameters:
-        - shadows/min_angle: "/map_server.shadows/min_angle"
+        - "shadows/min_angle": "map_server::shadows/min_angle"
           value: -1.52
+  connections:
+    - ["map_server.static_map", "map_server.static_map"]
+    - ["map_server.static_map", "map_server.static_map"]
diff --git a/test/unittest/test_generate_component.py b/test/unittest/test_generate_component.py
index 76177da..8495f64 100644
--- a/test/unittest/test_generate_component.py
+++ b/test/unittest/test_generate_component.py
@@ -54,7 +54,7 @@
 test_model:
   artifacts:
     map_server:
-      node: /map_server
+      node: map_server
       publishers:
         'map_metadata':
           type: 'nav_msgs/msg/MapMetaData'
diff --git a/test/unittest/test_generate_system.py b/test/unittest/test_generate_system.py
index 1aec531..e49314d 100644
--- a/test/unittest/test_generate_system.py
+++ b/test/unittest/test_generate_system.py
@@ -42,18 +42,21 @@
 expect_result = """
 test_system:
   nodes:
-    "/map_server":
-      from: "TODO./map_server"
+    "map_server":
+      from: "TODO.map_server"
       interfaces:
-      	- "map_metadata": pub-> "TODO::map_metadata"
-      	- "map": pub-> "TODO::map"
-      	- "static_map": as-> "TODO::static_map"
-      	- "static_map": ac-> "TODO::static_map"
-      	- "static_map": ss-> "TODO::static_map"
-      	- "static_map": sc-> "TODO::static_map"
+        - "map_metadata": pub-> "map_server::map_metadata"
+        - "map": pub-> "map_server::map"
+        - "static_map": as-> "map_server::static_map"
+        - "static_map": ac-> "map_server::static_map"
+        - "static_map": ss-> "map_server::static_map"
+        - "static_map": sc-> "map_server::static_map"
       parameters:
-        - shadows/min_angle: "/map_server.shadows/min_angle"
+        - "shadows/min_angle": "map_server::shadows/min_angle"
           value: -1.52
+  connections:
+    - ["map_server.static_map", "map_server.static_map"]
+    - ["map_server.static_map", "map_server.static_map"]
 
 """