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There's no one way unfortunately. You can do a "nova service-list" and get the nova related services and the nodes they are running on. This gives what you are asking from a compute related point of view. However for others you must do a little more work. You need to have an idea of what the service processes are called and see what is running on a node. For example, if a node is running keystone-all, there is ( at least one instance ) of keystone services. If you see the cinder-XYZ services running, there is a cinder service node. And on like that. Other distributions provide some help with this, for example, Mirantis OpenStack's Fuel will list the nodes by the function you've assigned.