39 lines
1.1 KiB
Markdown
Executable File
39 lines
1.1 KiB
Markdown
Executable File
# Debugging
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## RQT and RQT_Graph
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RQT is a GUI tool to debug your ROS 2 environment and nodes. It helps visualize what is going on in the different ROS 2 programs and how they are linked to gather. It also helps us see where bugs might occur and how they might be solved and prevented.
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To launch RQT we can just simply run `rqt` in our terminal.
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```bash
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rqt
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```
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RQT is made up of a bunch of different plugins. One of the most useful plugins is the `node graph` plugin found under `Plugins>Introspection>Node Graph`. This tool allows us to visualize the layout of our nodes and how they are communicating
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You can also start rqt with the graph plugin enabled with one of the following two commands
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```bash
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# Method 1
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ros2 run rqt_graph rqt_graph
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# Method 2
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rqt_graph
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```
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## Debugging ROS 2 Topics
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To get the frequency of how fast a topic is being published the run this command:
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```bash
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ros2 topic hz /topic_to_see
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```
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To get information on who is publishing and listening to a topic run this command:
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```bash
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ros2 topic info /topic_to_see
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```
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To get the bandwidth of a topic can can run this command:
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```bash
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ros2 topic bw /topic_to_see
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```
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