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I want to debug nodelet_manager so that I can step through the code and set breakpoints at some line of code

If you really want to debug nodelet_manager itself, you'll have to build it from sources in your Catkin workspace. The default Indigo binaries do not come with debug symbols, so that is why gdb tells you this.

(I'm assuming you are using ROS Indigo here, as that is what you tagged the question with)

To build it from source, clone ros/nodelet_core into your Catkin workspace and make sure to install all dependencies (using rosdep install ..). Update the CMakeLists.txt to enable debug symbols and then build the workspace.

Now source /path/to/your/catkin_ws/devel/setup.bash and then run your launch file.

I want to debug nodelet_manager so that I can step through the code and set breakpoints at some line of code

If you really want to debug nodelet_manager itself, you'll have to build it from sources in your Catkin workspace. The default Indigo binaries do not come with debug symbols, so that is why gdb tells you this.

(I'm assuming you are using ROS Indigo here, as that is what you tagged the question with)

To build it from source, clone ros/nodelet_core into your Catkin workspace (make sure to have the indigo-devel branch checked out) and make sure to install all dependencies (using rosdep install ..). Update the CMakeLists.txt to enable debug symbols and then build the workspace.

Now source /path/to/your/catkin_ws/devel/setup.bash and then run your launch file.