what tools can I use to debug a ROS2 application running on an embedded Linux board?

asked 2021-10-26 12:14:49 -0500

jg_spitfire
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updated 2021-10-27 00:50:02 -0500

Hi, while I was doing the ROS2 tutorial In my Linux pc (Ubutu desktop) I used some GUIs useful for debug and check the communication/data flow between nodes (like rqt), but my idea is to run ROS2 in an ARM microprocessor inside a MPSoC (a Xilinx board), I understand that for embedded devices Linux desktop is not an option so what tools are available for embedded Linux?, I am using ubuntu 20.04 server for arm and I would like to use ROS2 foxy, thanks

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I would suggest to change the title of your question to better reflect your actual question, which appears to be (the long version anyway):

my idea is to run ROS2 in an ARM microprocessor inside a MPSoC (a Xilinx board), I understand that for embedded devices Linux desktop is not an option so what tools are available for embedded Linux?

right now, your question can be answered with a "no, Linux is not required". I don't believe that's the answer you are looking for.

gvdhoorn ( 2021-10-26 12:39:13 -0500 )edit

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answered 2021-10-26 18:11:57 -0500

Geoff

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If you are asking "what tools can I use to debug a ROS application running on an embedded Linux board", the short answer is "the same tools". As long as your Linux embedded board is connected to a network, the ROS data will be visible on other computers on that network and you can run tools like rviz and rqt on a desktop computer and introspect the application from there.

Another option is to ssh into the embedded Linux device and then use rosshow to view the ROS data. You can also use the ros2 command to introspect the running system from a terminal, with commands such as ros2 topic list and ros2 node list. Run ros2 -h to see all the available commands.

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with: "As long as your Linux embedded board is connected to a network, the ROS data will be visible on other computers on that network and you can run tools like rviz and rqt on a desktop computer and introspect the application from there"

I think you are talking about this right? http://wiki.ros.org/ROS/Tutorials/Mul...

jg_spitfire ( 2021-10-27 03:58:44 -0500 )edit

That page is for ROS 1. In ROS 2 you no longer need to set the master URI.

Geoff ( 2021-10-27 18:01:43 -0500 )edit

I will try, thanks

jg_spitfire ( 2021-10-28 00:47:16 -0500 )edit

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what tools can I use to debug a ROS2 application running on an embedded Linux board?

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