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Had some issues getting gdb running on Mac, so had to use LLDB instead:

Make sure to build with debugging symbols. colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

Further you can start your node by referencing the executables directly (in this case my packages is called arke_base): lldb -f arke_base/install/arke_base/lib/arke_base/arke_hardware_interface_node -- --ros-args --params-file arke_base/config/arke_diff_drive_controller.yaml

The command also shows arguments added, in this case a config file.

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