rayvburn / gazebo_eclipse_debugging Goto Github PK

In the given URL there is great explanation how to setup Eclipse to debug and run ROS nodes. In this page there is a reference to URL.

• Imported ROS/Gazebo project into Eclipse workspace (see IDEs for details)
• Installed gdbserver (apt-get install gdbserver)

catkin clean

catkin config -G"Eclipse CDT4 - Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_COMPILER_ARG1=-std=c++11 -D__cplusplus=201103L -D__GXX_EXPERIMENTAL_CXX0X__=1

catkin build

After debugging, one can wish to bring back previous configuration which probably was like below:

catkin config -GEclipse CDT4 - Unix Makefiles -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_COMPILER_ARG1=-std=c++11 -D__cplusplus=201103L -D__GXX_EXPERIMENTAL_CXX0X__=1

catkin clean (prompt will ask whether to delete files - OK)

catkin build

The easiest way is to add these lines at the end of ~/.bashrc so everything will be done automatically during terminal startup. NOTE: this is only an example, one must adjust the paths according to his workspace configuration.

export CATKIN_WS_PATH=${HOME}/ros_workspace/ws_people_sim

source /usr/share/gazebo-8/setup.sh # Gazebo Env Variables Setup

source ${CATKIN_WS_PATH}/devel/setup.bash # Catkin Workspace Setup

cd ${CATKIN_WS_PATH}

Run Eclipse IDE simply with:

eclipse

Ref

PROBLEM: lack of PyDev (Eclipse seems to overwrite some Python env variable?)

"Take a view on Window > Preferences > PyDev > Interpreter Python ... You can use Auto Config or declare the path manually."

Ref

Example:

Make sure Eclipse IDE is closed

export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${FULL_PATH_TO_YOUR_GAZEBO_PLUGIN(s)_.SO_FILE(s)}

eclipse

NOTE What's very convenient is to paste export ... inside Eclipse's Run->Debug Configurations->C/C++ Remote Application->[Select your project]->Main->Commands to execute before application so the only thing one could remember is to start Eclipse from terminal with sourced workspace.

Documentation of gzserver can be found here.

Example:

gzserver [options] world_file

So it can be expanded to:

gzserver -v --verbose -u -e ode ${FULL_PATH_TO_YOUR_WORLD_FILE}

NOTE: some error occurs when any options are added and gzserver is ran from Eclipse so it may not work with other than default physics of Gazebo.

One of gzserver run options is loading a server plugin (see gzserver --help for details). To successfuly run gzserver one need to load 2 plugins related to Gazebo-ROS interface. To do this additional launch arguments should be added in Eclipse (they don't produce some errors in contrary to those options from (8)):

Run->Debug Configurations->C/C++ Remote Application->[Select your project]->Arguments

and now add this BEFORE .world file path:

-s /opt/ros/kinetic/lib/libgazebo_ros_paths_plugin.so -s /opt/ros/kinetic/lib/libgazebo_ros_api_plugin.so

So finally Arguments tab is filled with:

-s /opt/ros/kinetic/lib/libgazebo_ros_paths_plugin.so -s /opt/ros/kinetic/lib/libgazebo_ros_api_plugin.so ${FULL_PATH_TO_YOUR_WORLD_FILE}

One must remember that only gzserver will be started. The rest of the system (including ROS nodes) must be run manually in separate terminal (outside Eclipse). Usually it's safer to run gzserver after calling roslaunch ... with the rest of the system.

For an example how to prepare such startup files see my gazebo_ros_people_sim repo (oops, private now) (actor_sim_utils/launch/example_full.launch). Crucial thing here is the gdb argument. So the system ready for debugging should be started like:

Eclipse IDE -> Launch in Debug mode (cockroach icon)

command line -> roslaunch actor_sim_utils example_full.launch world:=living_room_vid_friendly gdb:=true