ROS launch使用gdb调试工具

ROS node报如下错误

[laserMapping-2] process has died [pid 15406, exit code -11, cmd 
/home/dji/workspace/fastlo_ws/devel/lib/fast_lio/fastlio_mapping __name:=laserMapping 
__log:=/home/dji/.ros/log/6a24a96a-0ed9-11ec-ada0-b07b2529e950/laserMapping-2.log].

使用gdb调试工具进行调试

launch-prefix="gdb -ex run --args" 
# run your node in gdb in the same xterm as your launch without having to type runto start it

在launch文件添加如下参数

运行launch文件
第一次运行，可能要等待十几秒，若出现
Find the GDB manual and other documentation resources online at:
--Type <return> to continue, or q <return> to quit ---
此时按下回车键，会出现此节点的线程状况

此时可以正常播放rosbag，gdb会给出导致bug的语句

我这里bug的原因是没有检查Vctor Measures.imu 是否为空，添加一个判断即不再出现process has died.