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Add prefix command to your node declaration in file.

node = Node(
    package='planning',
    executable='planner_server',
    name='planner_server_rclcpp_node',
    namespace='',
    output='screen',
    prefix=['xterm -e gdb -ex run --args'],
    parameters=[params],
)

This will start your node in gdb in a deprecate xterm Terminal. So you need have that installed with sudo apt install xterm.

Add prefix command to your node declaration in file.

node = Node(
    package='planning',
    executable='planner_server',
    name='planner_server_rclcpp_node',
    namespace='',
    output='screen',
    prefix=['xterm -e gdb -ex run --args'],
    parameters=[params],
)

This will start your node in gdb in a deprecate seperate xterm Terminal. So you need have that installed with sudo apt install xterm. .