Add Backward-ROS for improved logging in event of segfaults (#327)

* Add Backward-ROS for improved logging in event of segfaults `backward-ros` provides a clean way to catch unhandled exceptions and segfaults and is able to print a stack trace when a program crashes. This PR adds `backward-ros` to rmf ros2 nodes so that we can trace causes for segfaults. Note: This will only work for pure C++ nodes. If we want logging in downstream fleetadapters they will have to handle that themselves either using `backward-cpp` or `faulthandler` in python. Signed-off-by: Arjo Chakravarty <arjoc@google.com> * Alphabetize deps Signed-off-by: Arjo Chakravarty <arjoc@google.com> --------- Signed-off-by: Arjo Chakravarty <arjoc@google.com> Co-authored-by: Yadu <yadunund@openrobotics.org>
open-rmf · Mar 6, 2024 · a2269ab · a2269ab
1 parent c0b89ff
commit a2269ab
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Showing 6 changed files with 35 additions and 27 deletions.
diff --git a/rmf_fleet_adapter/CMakeLists.txt b/rmf_fleet_adapter/CMakeLists.txt
@@ -11,6 +11,7 @@ add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(yaml-cpp REQUIRED)
 find_package(Threads REQUIRED)

diff --git a/rmf_fleet_adapter/package.xml b/rmf_fleet_adapter/package.xml
@@ -12,30 +12,33 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>rclcpp</depend>
+
+  <depend>backward_ros</depend>
+  <depend>nlohmann_json_schema_validator_vendor</depend>
+  <depend>nlohmann-json-dev</depend>
   <depend>rclcpp_components</depend>
-  <depend>rmf_utils</depend>
-  <depend>rmf_door_msgs</depend>
-  <depend>rmf_ingestor_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rmf_api_msgs</depend>
+  <depend>rmf_battery</depend>
+  <depend>rmf_building_map_msgs</depend>
   <depend>rmf_dispenser_msgs</depend>
+  <depend>rmf_door_msgs</depend>
   <depend>rmf_fleet_msgs</depend>
+  <depend>rmf_ingestor_msgs</depend>
   <depend>rmf_lift_msgs</depend>
   <depend>rmf_task_msgs</depend>
-  <depend>rmf_traffic</depend>
-  <depend>rmf_traffic_ros2</depend>
   <depend>rmf_task_ros2</depend>
-  <depend>rmf_battery</depend>
-  <depend>rmf_task</depend>
   <depend>rmf_task_sequence</depend>
+  <depend>rmf_task</depend>
+  <depend>rmf_traffic_ros2</depend>
+  <depend>rmf_traffic</depend>
+  <depend>rmf_utils</depend>
+  <depend>rmf_websocket</depend>
   <depend>std_msgs</depend>
-  <depend>rmf_api_msgs</depend>
-  <depend>rmf_building_map_msgs</depend>
-  <depend condition="$RMF_ENABLE_FAILOVER == 1">stubborn_buddies</depend>
+
   <depend condition="$RMF_ENABLE_FAILOVER == 1">stubborn_buddies_msgs</depend>
+  <depend condition="$RMF_ENABLE_FAILOVER == 1">stubborn_buddies</depend>
 
-  <depend>rmf_websocket</depend>
-  <depend>nlohmann-json-dev</depend>
-  <depend>nlohmann_json_schema_validator_vendor</depend>
 
   <build_depend>eigen</build_depend>
   <build_depend>yaml-cpp</build_depend>

diff --git a/rmf_task_ros2/CMakeLists.txt b/rmf_task_ros2/CMakeLists.txt
@@ -14,6 +14,7 @@ endif()
 include(GNUInstallDirs)
 
 find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
 find_package(rmf_api_msgs REQUIRED)
 find_package(rmf_traffic REQUIRED)
 find_package(rmf_traffic_ros2 REQUIRED)

diff --git a/rmf_task_ros2/package.xml b/rmf_task_ros2/package.xml
@@ -10,15 +10,16 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>rmf_utils</depend>
+  <depend>backward_ros</depend>
+  <depend>nlohmann_json_schema_validator_vendor</depend>
+  <depend>nlohmann-json-dev</depend>
+  <depend>rclcpp</depend>
   <depend>rmf_api_msgs</depend>
-  <depend>rmf_traffic</depend>
-  <depend>rmf_traffic_ros2</depend>
   <depend>rmf_task_msgs</depend>
-  <depend>rclcpp</depend>
+  <depend>rmf_traffic_ros2</depend>
+  <depend>rmf_traffic</depend>
+  <depend>rmf_utils</depend>
   <depend>rmf_websocket</depend>
-  <depend>nlohmann-json-dev</depend>
-  <depend>nlohmann_json_schema_validator_vendor</depend>
 
   <build_depend>eigen</build_depend>
 

diff --git a/rmf_traffic_ros2/CMakeLists.txt b/rmf_traffic_ros2/CMakeLists.txt
@@ -16,6 +16,7 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/cmake)
 include(GNUInstallDirs)
 
 find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
 find_package(rmf_traffic 3 REQUIRED)
 find_package(rmf_traffic_msgs REQUIRED)
 find_package(rmf_site_map_msgs REQUIRED)

diff --git a/rmf_traffic_ros2/package.xml b/rmf_traffic_ros2/package.xml
@@ -11,16 +11,17 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>rmf_utils</depend>
-  <depend>rmf_traffic</depend>
-  <depend>rmf_traffic_msgs</depend>
+  <depend>backward_ros</depend>
+  <depend>nlohmann-json-dev</depend>
+  <depend>proj</depend>
+  <depend>rclcpp</depend>
+  <depend>rmf_building_map_msgs</depend>
   <depend>rmf_fleet_msgs</depend>
   <depend>rmf_site_map_msgs</depend>
-  <depend>rmf_building_map_msgs</depend>
-  <depend>rclcpp</depend>
+  <depend>rmf_traffic_msgs</depend>
+  <depend>rmf_traffic</depend>
+  <depend>rmf_utils</depend>
   <depend>yaml-cpp</depend>
-  <depend>nlohmann-json-dev</depend>
-  <depend>proj</depend>
   <depend>zlib</depend>
 
   <build_depend>uuid</build_depend>