ELF-Compass is a project mainly written in ..., it's free.
Utility to map a program's control flow for ELF binaries on Linux
Elf Compass sets breakpoints on all functions in a program and logs them so you can easily reverse engineer software and map their control flows. It was written for ELF binaries on Linux. I'm uploading this for reference purposes only. I'm sure it could be updated to work on modern 64 bit machines.