{"id":5854,"date":"2023-08-03T09:41:36","date_gmt":"2023-08-03T00:41:36","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=5854"},"modified":"2023-08-03T09:41:38","modified_gmt":"2023-08-03T00:41:38","slug":"ros2-launch-gdb","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/ros2-launch-gdb\/","title":{"rendered":"ros2 launch gdb"},"content":{"rendered":"\n<p>ros2\ub97c gdb\ub97c \uc0ac\uc6a9\ud560 \uc218 \uc788\ub2e4(\ub300\ubc15!). \uba3c\uc800 <a href=\"https:\/\/answers.ros.org\/question\/267261\/how-can-i-run-ros2-nodes-in-a-debugger-eg-gdb\/\">ros2 run \uc635\uc158<\/a>\uc73c\ub85c \uc0ac\uc6a9\ud558\ub294 \ud3ec\uc2a4\ud2b8\ub97c \ucc3e\uc558\ub2e4. \uc774\ub7ec\uba74 node\ub97c \ub9cc\ub4e4 \ub54c \uc804\ub2ec\ud55c \ud30c\ub77c\ubbf8\ud130\ub97c \ubaa8\ub450 \ub123\uc5b4\uc918\uc57c \ud558\uc5ec \uc5b4\ub835\uace0 \ubd88\ud3b8\ud558\ub2e4. \ub2e4\ud589\ud788 ros\uac00 \uc8fd\uc744 \ub54c \uc5b4\ub5a4 \ud30c\uc77c\uc744 \uc0ac\uc6a9\ud588\ub294\uc9c0 \uc54c\ub824\uc92c\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">[ERROR] [robot_model_tutorial-1]: process has died [pid 1919, exit code -11, cmd '\/home\/ros2_test\/install\/hello_moveit\/lib\/hello_moveit\/robot_model_tutorial --ros-args --params-file \/tmp\/launch_params_2myb0p1i --params-file \/tmp\/launch_params_q_86u0o7 --params-file \/tmp\/launch_params_2dnzqmp1'].<\/pre>\n\n\n\n<p>node\ub97c \uc2e4\ud589\ud560 \ub54c, tmp \ub514\ub809\ud1a0\ub9ac\uc5d0 \ud30c\uc77c\ub85c \ub9cc\ub4e4\uc5b4 \uc774\ub97c args\ub85c \uc804\ub2ec\ud55c\ub2e4. \ub2e4\uc74c\uacfc \uac19\uc774 ros run\uc73c\ub85c gdb\ub97c \ubd99\uc77c \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">ros2 run --prefix 'gdb -ex run --args' hello_moveit robot_model_tutorial --ros-args --params-file \/tmp\/launch_params_2myb0p1i --params-file \/tmp\/launch_params_q_86u0o7 --params-file \/tmp\/launch_params_2dnzqmp1<\/pre>\n\n\n\n<p>\ud30c\ub77c\ubbf8\ud130 \uc785\ub825\uc774 \uadc0\ucc2e\uc73c\uba74, <a href=\"https:\/\/m.blog.naver.com\/tiled12\/221847492829\">launch \uc635\uc158\uc5d0 prefix\ub85c \ub123\uc5b4 \uc0ac\uc6a9\ud560 \uc218 \uc788\ub2e4.<\/a> \ub2e8 \ud130\ubbf8\ub110\uc744 \uc0c8\ub85c \ub9cc\ub4e4\uc5b4\uc57c \ud55c\ub2e4. \uc65c \uadf8\ub7f0\uc9c0\ub294 \uc798 \ubaa8\ub974\uaca0\ub294\ub370, \uc77c\ub2e8 \ub418\ub2c8\uae4c \ud328\uc2a4.<\/p>\n\n\n\n<h5 class=\"wp-block-heading\">&lt;\uc0ac\uc6a9\ud558\ub294 lanch file&gt;<\/h5>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">from launch import LaunchDescription\nfrom launch_ros.actions import Node\nfrom moveit_configs_utils import MoveItConfigsBuilder\n\n\ndef generate_launch_description():\n    moveit_config = MoveItConfigsBuilder(\"hello\").to_moveit_configs()\n\n    my_node = Node(\n        package=\"hello_moveit\",\n        executable=\"robot_model_tutorial\",\n        output=\"screen\",\n        parameters=[\n            moveit_config.robot_description,\n            moveit_config.robot_description_semantic,\n            moveit_config.robot_description_kinematics,\n        ],\n    )\n\n    return LaunchDescription([my_node])\n<\/pre>\n\n\n\n<h5 class=\"wp-block-heading\">&lt;\ub514\ubc84\uadf8\uc6a9 lanch file&gt;<\/h5>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">from launch import LaunchDescription\nfrom launch_ros.actions import Node\nfrom moveit_configs_utils import MoveItConfigsBuilder\n\n\ndef generate_launch_description():\n    moveit_config = MoveItConfigsBuilder(\"hello\").to_moveit_configs()\n\n    my_node = Node(\n        package=\"hello_moveit\",\n        executable=\"robot_model_tutorial\",\n        prefix =\"xterm -e gdb run --args\",\n        output=\"screen\",\n        parameters=[\n            moveit_config.robot_description,\n            moveit_config.robot_description_semantic,\n            moveit_config.robot_description_kinematics,\n        ],\n    )\n\n    return LaunchDescription([my_node])\n<\/pre>\n\n\n\n<p>gdb \uae30\ubcf8 \uc0ac\uc6a9\ubc95\uc740 <a href=\"https:\/\/myreversing.tistory.com\/10\">\uc5ec\uae30<\/a> \uc815\ub9ac\ub418\uc5b4 \uc788\ub2e4.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-4-3 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"gdb ros\" width=\"500\" height=\"375\" src=\"https:\/\/www.youtube.com\/embed\/ohMZ_5rid-s?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>ros2\ub97c gdb\ub97c \uc0ac\uc6a9\ud560 \uc218 \uc788\ub2e4(\ub300\ubc15!). \uba3c\uc800 ros2 run \uc635\uc158\uc73c\ub85c \uc0ac\uc6a9\ud558\ub294 \ud3ec\uc2a4\ud2b8\ub97c \ucc3e\uc558\ub2e4. \uc774\ub7ec\uba74 node\ub97c \ub9cc\ub4e4 \ub54c \uc804\ub2ec\ud55c \ud30c\ub77c\ubbf8\ud130\ub97c \ubaa8\ub450 \ub123\uc5b4\uc918\uc57c [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":5859,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center 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