Tools dan teknik debugging untuk ROS 2 | Debugging tools and techniques for ROS 2

Debugging ROS 2

Pelajari tools untuk debugging dan troubleshooting sistem ROS 2.

🔧 rqt - GUI Tools Collection

# Launch rqt
rqt

# Or specific plugins
rqt_graph          # Node/topic visualization
rqt_console        # View log messages
rqt_topic          # Topic inspector
rqt_plot           # Plot numeric data

rqt_graph - Visualize System

ros2 run rqt_graph rqt_graph

Shows nodes and topic connections - great for understanding system architecture.

🌐 rviz2 - 3D Visualization

ros2 run rviz2 rviz2

Visualize:

Robot model (URDF)
TF frames
Sensor data (camera, lidar)
Path planning

📊 Common Debugging Commands

# Check if node is running
ros2 node list

# Check topic data
ros2 topic echo /topic_name
ros2 topic hz /topic_name      # Check frequency
ros2 topic bw /topic_name      # Check bandwidth

# Check service availability
ros2 service list

# View logs
ros2 run rqt_console rqt_console

🐛 Common Issues & Solutions

Problem	Solution
Node not found	`source install/setup.bash`
Topic not publishing	Check `ros2 topic list`, verify node running
Service timeout	Check server node, verify service name
Parameter not set	Use `ros2 param list`, check namespace

📝 Logging

# In your node
self.get_logger().debug('Debug message')
self.get_logger().info('Info message')
self.get_logger().warn('Warning message')
self.get_logger().error('Error message')

# Set log level
ros2 run my_package my_node --ros-args --log-level DEBUG

🎥 Recording & Playback

# Record topics
ros2 bag record /topic1 /topic2 -o my_recording

# Record all
ros2 bag record -a

# Playback
ros2 bag play my_recording

# Info about bag
ros2 bag info my_recording