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Debugging with gdb on Gazebo Roslaunch

asked 2014-04-02 16:58:21 -0500

Stefano Aringhieri gravatar image

Hi, i use ROS Hydro and Gazebo 1.9 on Ubuntu 13.04. I want to debug a Gazebo plugins compiled as a shared library wrote in C and inserted into the simulation. I would use gdb, and i would insert breakpoint, and son on. It's possibile to do this during the simulation? How can i do? I also read this page http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB But isn't enough clear.

Thanks

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answered 2014-04-02 19:35:31 -0500

scpeters gravatar image

There are some scripts in drcsim that enable this behavior. See the atlas_no_controllers.launch file and the scripts folder, especially run_gzserver_gdb. I believe it can be invoked by appending gzname:=gzserver_gdb to the roslaunch command, for example

roslaunch drcsim_gazebo atlas.launch gzname:=gzserver_gdb

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Thanks for you answer. But there is something similar to set a variable in the CmakeLists.txt of source's package of the library ? For example set(.....DEBUG =1 ) ?

Stefano Aringhieri gravatar imageStefano Aringhieri ( 2014-04-03 03:58:26 -0500 )edit
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Asked: 2014-04-02 16:58:21 -0500

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Last updated: Apr 02 '14