I am using eclipse to debug moveit2.
In the Moveit2 demo launch files (python): ros2 launch run_move_group run_move_group.launch.py,
a lot of parameters (e.g. urdf robot models) are loaded from configuration files. These parameters are then parsed to the excutable (C++).
I want to use eclipse to debug the C++ executable. However, I cannot attach my debugger to the process as the launch file and therefore process is python based.
Also I cannot run the single executable: ros2 run run_move_group run_move_group
As all the parameters are missing.
Can anyone recommend a work flow to debug C++ ROS2 nodes that are executed by python launch files in eclipse?
You MIGHT be able to start the exe with pydev and find a seam to connect to the C++ process and/or put a little python at the end of launch chain to make that easier and/or doable.
On more reflection… bear in mind I’m shooting from the hip here
Not sure how python launch processing code hands off to C++ exe. Could launch a new process and/or “exec” the new process in place.
In either event, find the launching python code and launch something on the order of
eclipse run_move_group <args…>
You can probably have python fill in the command line args. If not, you can manually copy them one time to eclipse “run args” entry. Or whatever it’s called.
