E Debug ROS node

Debug nodes with valgrind

Build your nodes with :

catkin build [package(optional)] -DCMAKE_BUILD_TYPE=Debug

Run it from the catkin workspace base:

valgrind --leak-check=yes devel/lib/[ros_package_name]/[node_name]

Use roslaunch prefix, add this to your launchfile:

launch-prefix="valgrind"

More tricks with roslaunch prefix:

• https://github.com/facontidavide/cpp_swiss_army_knife/blob/master/profiling_roslaunch_prefix.md
• http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB

Look for errors and issues in ROS System

A tool for diagnosing issues with a running ROS system or launchfiles

Run general checks:

roswtf

Examine a launch file

roswtf mylaunchfile.launch

More about roswtf:

wiki.ros.org/roswtf

Profiling ROS Nodes

wiki.ros.org tutorials

ROS VS Code extension

ROS - Visual Studio Marketplace

github.com/ms-iot/vscode-ros

Debug ROS nodes with VS Code extension (started as rosrun or roslaunch):

github.com/ms-iot/vscode-ros