How to debug roslaunch with IDE RoboWare or Visual Code(RotorS MAV gazebo simulator)
Hello guys,
I installed RotorS the MAV Gazebo simulator and it's worked fine.( link for RotorS) but a trie use Debug in IDE RoboWare and i don't have success how to debug launch file witch RoboWare or Visual Code? Thank's guys
My launch this file: ~/catkin_ws/src/rotors_simulator/rotors_gazebo/launch/mav_hovering_example_with_vi_sensor.launch
My launch file launch in this exactly moment:
<launch>
<arg name="mav_name" default="firefly"/>
<arg name="world_name" default="basic"/>
<arg name="enable_logging" default="true" />
<arg name="enable_ground_truth" default="true" />
<arg name="log_file" default="$(arg mav_name)" />
<env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
<env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world" />
<arg name="debug" value="true"/>
<arg name="paused" value="true"/>
<!-- <arg name="gui" value="false"/> -->
</include>
<group ns="$(arg mav_name)">
<include file="$(find rotors_gazebo)/launch/spawn_mav.launch">
<arg name="mav_name" value="$(arg mav_name)" />
<arg name="model" value="$(find rotors_description)/urdf/mav_with_vi_sensor.gazebo" />
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
</include>
<node name="lee_position_controller_node" pkg="rotors_control" type="lee_position_controller_node" output="screen">
<rosparam command="load" file="$(find rotors_gazebo)/resource/lee_controller_$(arg mav_name).yaml" />
<rosparam command="load" file="$(find rotors_gazebo)/resource/$(arg mav_name).yaml" />
<remap from="odometry" to="odometry_sensor1/odometry" />
</node>
<node name="hovering_example" pkg="rotors_gazebo" type="hovering_example" output="screen"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
</group>
</launch>
My configuration debug in Roboware(launch.json)
{
"version": "0.2.0",
"configurations": [
{
"name": "C++",
"type": "gdb",
"request": "launch",
"target": "${file}",
"cwd": "${workspaceRoot}",
"arguments": "roscore"
},
{
"name": "C++ (remote)",
"type": "gdb",
"request": "launch",
"target": "dev${relativeFile}",
"cwd": "${workspaceRoot}",
"ssh": {
"host": "remotehost",
"user": "remoteuser",
"keyfile": "/home/user/.ssh/id_rsa",
"cwd": "/home/remote/ws"
}
},
{
"name": "Python",
"type": "python",
"request": "launch",
"stopOnEntry": true,
"pythonPath": "${config:python.pythonPath}",
"program": "${file}",
"debugOptions": [
"WaitOnAbnormalExit",
"WaitOnNormalExit",
"RedirectOutput"
]
}
]
}