datetime:2025/06/03 14:56
author:nzb
使用GDB调试ROS2程序
我们使用 backward_ros 功能包来快速实现用 GDB 调试 ROS2 程序。
backward_ros 功能包介绍
backward_ros功能包是对backward-cpp包的ROS2封装，以便可以简单快速地使用GDB工具。
backward-cpp包的介绍可以查看其仓库：
使用 backward_ros 功能包实现 GDB 调试 ROS2 程序只需下面三个步骤：
- 添加
backward_ros到package.xml文件。
<depend>backward_ros</depend>
- 添加
backward_ros到CMakeLists.txt文件中。
find_package(backward_ros REQUIRED)
- 使用
Debug或者RelWithDebInfo选项编译程序。
# Debug
colcon build --packages-select simple_walk_controller --mixin debug
# RelWithDebInfo
colcon build --packages-select simple_walk_controller --mixin rel-with-deb-info
- 或者在
CMakeLists.txt文件中添加参数。
set(CMAKE_BUILD_TYPE "Debug")
set(CMAKE_BUILD_TYPE "RelWithDebInfo")
set(CMAKE_BUILD_TYPE "Release")
示例
colcon build --packages-select simple_walk_controller --mixin release
blues@pasture-10:~/vscode_projects/cy1_ws$ ros2 run simple_walk_controller simple_walk_controller
[INFO] [1748935276.221676740] [orca_controller]: Starting orca_controller
Stack trace (most recent call last):
#11 Object "", at 0xffffffffffffffff, in
#10 Object "/home/blues/vscode_projects/cy1_ws/install/simple_walk_controller/lib/simple_walk_controller/simple_walk_controller", at 0x648c61f9a8a4, in _start
#9 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x7008a2629e3f]
#8 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x7008a2629d8f]
#7 Object "/home/blues/vscode_projects/cy1_ws/install/simple_walk_controller/lib/simple_walk_controller/simple_walk_controller", at 0x648c61f9a712, in main
#6 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7008a44e5c8e, in rclcpp::spin(std::shared_ptr<rclcpp::Node>)
#5 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7008a44e5b94, in rclcpp::spin(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)
#4 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7008a44e597f, in rclcpp::executors::SingleThreadedExecutor::spin()
#3 Object "/opt/ros/humble/lib/librclcpp.so", at 0x7008a44de030, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
#2 Object "/home/blues/vscode_projects/cy1_ws/install/simple_walk_controller/lib/simple_walk_controller/simple_walk_controller", at 0x648c61fa3d84, in rclcpp::GenericTimer<std::_Bind<void (OrcaController::*(OrcaController*))()>, (void*)0>::execute_callback()
#1 Object "/home/blues/vscode_projects/cy1_ws/install/simple_walk_controller/lib/simple_walk_controller/simple_walk_controller", at 0x648c61fa2a5f, in OrcaController::control_loop()
#0 Object "/home/blues/vscode_projects/cy1_ws/install/simple_walk_controller/lib/simple_walk_controller/simple_walk_controller", at 0x648c61f9cc05, in OrcaController::send_action(std::vector<std::vector<float, std::allocator<float> >, std::allocator<std::vector<float, std::allocator<float> > > > const&, std::vector<float, std::allocator<float> > const&, std::vector<float, std::allocator<float> > const&, std::vector<float, std::allocator<float> > const&)
Segmentation fault (Address not mapped to object [0x8])
[ros2run]: Segmentation fault
colcon build --packages-select simple_walk_controller --mixin debug
blues@pasture-10:~/vscode_projects/cy1_ws$ ros2 run simple_walk_controller simple_walk_controller
[INFO] [1748935389.556873639] [orca_controller]: Starting orca_controller
Stack trace (most recent call last):
#18 Object "", at 0xffffffffffffffff, in
#17 Object "/home/blues/vscode_projects/cy1_ws/install/simple_walk_controller/lib/simple_walk_controller/simple_walk_controller", at 0x6526cae464e4, in _start
#16 Source "../csu/libc-start.c", line 392, in __libc_start_main_impl [0x744a24629e3f]
#15 Source "../sysdeps/nptl/libc_start_call_main.h", line 58, in __libc_start_call_main [0x744a24629d8f]
#14 Source "/home/blues/vscode_projects/cy1_ws/src/simple_walk_controller/src/simple_walk_controller.cpp", line 456, in main [0x6526cae4bc34]
453: rclcpp::init(argc, argv);
454: auto node = std::make_shared<OrcaController>();
455: node->initialize();
> 456: rclcpp::spin(node);
457: rclcpp::shutdown();
458: return 0;
459: }
#13 Object "/opt/ros/humble/lib/librclcpp.so", at 0x744a263acc8e, in rclcpp::spin(std::shared_ptr<rclcpp::Node>)
#12 Object "/opt/ros/humble/lib/librclcpp.so", at 0x744a263acb94, in rclcpp::spin(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>)
#11 Object "/opt/ros/humble/lib/librclcpp.so", at 0x744a263ac97f, in rclcpp::executors::SingleThreadedExecutor::spin()
#10 Object "/opt/ros/humble/lib/librclcpp.so", at 0x744a263a5030, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
#9 Source "/opt/ros/humble/include/rclcpp/rclcpp/timer.hpp", line 230, in execute_callback [0x6526cae8b1d8]
227: execute_callback() override
228: {
229: TRACEPOINT(callback_start, static_cast<const void *>(&callback_), false);
> 230: execute_callback_delegate<>();
231: TRACEPOINT(callback_end, static_cast<const void *>(&callback_));
232: }
#8 Source "/opt/ros/humble/include/rclcpp/rclcpp/timer.hpp", line 244, in execute_callback_delegate<> [0x6526cae8c23f]
241: void
242: execute_callback_delegate()
243: {
> 244: callback_();
245: }
246:
247: template<
#7 Source "/usr/include/c++/11/functional", line 503, in operator()<> [0x6526cae8cbe0]
500: _Result
501: operator()(_Args&&... __args)
502: {
> 503: return this->__call<_Result>(
504: std::forward_as_tuple(std::forward<_Args>(__args)...),
505: _Bound_indexes());
506: }
#6 Source "/usr/include/c++/11/functional", line 420, in __call<void, 0> [0x6526cae8cf34]
417: _Result
418: __call(tuple<_Args...>&& __args, _Index_tuple<_Indexes...>)
419: {
> 420: return std::__invoke(_M_f,
421: _Mu<_Bound_args>()(std::get<_Indexes>(_M_bound_args), __args)...
422: );
423: }
#5 Source "/usr/include/c++/11/bits/invoke.h", line 96, in __invoke<void (OrcaController::*&)(), OrcaController*&> [0x6526cae8d1be]
93: using __result = __invoke_result<_Callable, _Args...>;
94: using __type = typename __result::type;
95: using __tag = typename __result::__invoke_type;
> 96: return std::__invoke_impl<__type>(__tag{}, std::forward<_Callable>(__fn),
97: std::forward<_Args>(__args)...);
98: }
#4 Source "/usr/include/c++/11/bits/invoke.h", line 74, in __invoke_impl<void, void (OrcaController::*&)(), OrcaController*&> [0x6526cae8d67b]
71: __invoke_impl(__invoke_memfun_deref, _MemFun&& __f, _Tp&& __t,
72: _Args&&... __args)
73: {
> 74: return ((*std::forward<_Tp>(__t)).*__f)(std::forward<_Args>(__args)...);
75: }
76:
77: template<typename _Res, typename _MemPtr, typename _Tp>
#3 Source "/home/blues/vscode_projects/cy1_ws/src/simple_walk_controller/src/simple_walk_controller.cpp", line 173, in control_loop [0x6526cae4992d]
170: switch (fsm_->getCurrentState())
171: {
172: case orca_fsm::State::Passive:
> 173: send_action(ptargets, std::vector<float>(28, 0.0f), std::vector<float>(28, 0.0f));
174: reset();
175: step_data_.reset();
176: break;
#2 Source "/home/blues/vscode_projects/cy1_ws/src/simple_walk_controller/src/simple_walk_controller.cpp", line 339, in send_action [0x6526cae4aa8a]
336: std::copy(d_gain.begin(), d_gain.end(), extended_d.begin());
337:
338: // 获取最终动作值
> 339: std::vector<float> final_action = targets[0]; // 假设 cmd 至少有一个元素
340:
341: std::vector<float> p{final_action.begin(), final_action.end()};
342: std::vector<float> d{final_action.begin(), final_action.end()};
#1 Source "/usr/include/c++/11/bits/stl_vector.h", line 555, in vector [0x6526cae58b01]
552: */
553: vector(const vector& __x)
554: : _Base(__x.size(),
> 555: _Alloc_traits::_S_select_on_copy(__x._M_get_Tp_allocator()))
556: {
557: this->_M_impl._M_finish =
558: std::__uninitialized_copy_a(__x.begin(), __x.end(),
#0 Source "/usr/include/c++/11/bits/stl_vector.h", line 919, in size [0x6526cae57bb6]
916: /** Returns the number of elements in the %vector. */
917: size_type
918: size() const _GLIBCXX_NOEXCEPT
> 919: { return size_type(this->_M_impl._M_finish - this->_M_impl._M_start); }
920:
921: /** Returns the size() of the largest possible %vector. */
922: size_type
Segmentation fault (Address not mapped to object [0x8])
[ros2run]: Segmentation fault