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Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

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Chapter 3. Debugging and Visualization

The ROS framework comes with a great number of powerful tools to help the user and developer in the process of debugging the code, and detecting problems with both the hardware and software. This comprises debugging facilities such as log messages as well as visualization and inspection capabilities, which allows the user to see what is going on in the system easily.

Here, we also cover the workflow to debug ROS nodes using GDB debugger as an example. Although this is almost the same as debugging a regular C/C++ program, there are a few aspects that must be taken into account. We will only focus on these particular aspects, since explaining the way to use the debugger is far from the scope of this chapter. ...

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