gdb-log

The process of debugging:

• 1.Compile the code using the debug mode(to attach debugging symbols) with the command [1]:

catkin_make -DCMAKE_BUILD_TYPE=DEBUG

• 2.Go to the place where the executable is located (devel/lib/package_name), and type the command:

gdb name_of_excutable

• 3.Use "r" to run the code and the error messages are printed on the screen.
• 4.Use the debug commands from gdb [2] to track the bug.

Note: A handy method to print the content of Eigen Vector or Matrix "X" [3]:

print *X.data()@Length_X

Reference websites:

[1] https://answers.ros.org/question/200155/how-to-debug-executable-built-with-catkin_make-without-roslaunch/

[2] https://condor.depaul.edu/glancast/373class/docs/gdb.html

[3] https://stackoverflow.com/questions/25085465/using-gdb-with-eigen-c-library