Using GDB with ROS2, a reference

Keywords: #ros #ros2 #gdb #debugging
It has been around a year since I moved to working in ROS2 full-time. Much like the Post about using GDB in ROS1, I wanted to make a reference for myself, and potentially anyone else, for creating a decent debugging workflow for ROS2. Unlike my ROS1 guide, I will be covering launch files here, as information regarding debugging with ROS2 is a bit sparse. Step 1: Compile with debug flags $ colcon build [flags] --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo You don’t need to build your whole workspace with debug flags, just the package you want to debug.

ROS.el is really nice

Keywords: #ros #ros2 #emacs
In the last post, I mentioned that the ros.el emacs package had been on my radar. I finally got around to giving it a try a few days ago, and it has quickly become a staple of my workflow (Highest praise possible!). I had to add some dependencies in my packages.el: ;; `ros.el' depends on `with-shell-interpreter' among other packages ;; See: (package! with-shell-interpreter) (package! string-inflection) (package! ros :recipe (:host github :repo "DerBeutlin/ros.

Tips for remote development

Keywords: #Ros2 #emacs #tramp #ssh
I’ve been developing on robots with Emacs for a few years now, and I thought it may be beneficial for me to do a write-up of some of the tricks I’ve learned. The usefulness of the following won’t be limited to robotics, nor only to those who use Emacs, as I’m sure the frustrations of developing on a remote machine, inside a container are transcendent. Given that I have wound up revisiting the ROS and GDB page a good number of times to jog my memory, I suspect that this topic will be as useful.

Playing with Build123d

Keywords: #Ros2 #KIWI #Cadquery #Build123d
Alright, third post in a row where I switch to a new build system. I know it’s not a great look, but I swear this is the last time. With this new model in Build123d, I’m finally settled on a library that seems to scale gracefully (roughly linearly) as assemblies accumulate complexity. Why the switch?: Assemblies become unwieldy Previously I touched on the fluent programming style, and how it felt like a substantial change from the OOP style I’m used to.