Debugging
- Using
gdb can greatly help you track down issues in your program
- Among other features, it enables you to step through the code, examine variables, and break on certain lines
- use
ros2 run --prefix "gdb --args" package node to launch the node in gdb
- Commands that may be useful are
tui enable to view a graphical interface with easier commandsrun start running the program. Abbreviated with rcontinue continue running a paused program. Abbreviated with cbreak file:line or break function to put a breakpoint at a line or a function. Abbreviated with bnext go to the next line, skipping over functions. Abbreviated with nstep go to the next line, jumping into functions. Abbreviated with sprint display the value of a variable or memory address
- To use
gdb most effectively, the code must be compiled with Debugging symbols enabled
- Use the
Debug build type in CMake. See CMake Notes for how to set debugging mode
- This tutorial helps you launch nodes the debugger