How to debug turtlebot?
I am trying to debug my turtlebot with kobuki base. The robot is launched from
roslaunch turtlebot_bringup minimal.launch
I did a catkin_make with the option -DCMAKE_BUILD_TYPE=Debug, and added
launch-prefix="xterm -e gdb --args"
to the mobile base nodelet manager.
However: when I run this launch file an xterm screen opens with gdb, but it says "Reading symbols from /opt/ros/indigo/lib/nodelet/nodelet...(no debugging symbols found)...done.
How can I properly debug my turtlebot software? A solution without gdb would also be fine.
I believe what you did would be the approach to use.
gdbwill just need symbols for things that you want to debug. If it can't find them, you can still debug it.In any case: I guess you want to debug the nodelets themselves, not the nodelet manager? A CMake debug build should then be enough.
It's correct to debug the nodelet manager. The nodelet manager ist the process that loads and executes the nodelet lib and code. The process named after the nodelet to run afaik only triggern loading/unloading the lib into the Manager.
I agree that missing Symbols in the nodelet manager should
Prevent you from Debugging. Failures in your part of the Code should still bei traceable.
Thanks for the suggestions, do you have any known way to actually get debug symbols? Do I have to build something, what and where?
If you want debug symbols for packages that you installed from
.debs, you'll have to build them from sources in a Catkin workspace with theCMAKE_BUILD_TYPEset toDebugorRelWithDebInfo.I'm not sure this is already supported everywhere, but IIRC, for Lunar (and perhaps Kinetic), the OSRF buildfarm provides
-dbgpkgs that could also be installed.