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2017-02-10 13:32:16 -0500 | asked a question | Deterministic replay and debugging EDIT: Reposted here, with some responses. I need to build a ROS system that can log its inputs and node communication such that all calculations can be reproduced exactly during analysis later. The system needs to have two modes: Operation
Analysis
For example there may be a system with this topology During analysis the node B is stopped in a debugger. Now A needs to pause because otherwise the topic queue x would overflow and messages would be dropped that were not dropped during operation. Same with C: It needs to pause because it is not getting the messages from B that it did get during operation. This seems like a standard problem, yet I cannot find anything in the ROS ecosystem that addresses this. I have some ideas for developing this myself, but I'd rather use an existing solution. rosbag appears to be unsuitable: The limitations of rosbag record/play |