linux下一建开启coreDump 功能 setCoreDump.sh

#!/bin/sh
echo "set core dump start "
echo "*               soft    core           unlimited" >> /etc/security/limits.conf
echo "*               hard    core           unlimited" >> /etc/security/limits.conf

echo "session required pam_limits.so" >> /etc/pam.d/common-session
echo "session required pam_limits.so" >> /etc/pam.d/common-session-noninteractive
echo "ulimit -c unlimited" >> ~/.bashrc
ulimit -a
echo core-%e-%p-%t | sudo tee /proc/sys/kernel/core_pattern 

echo "set finish: use test  ulimit -a "
 

ros下开启core文件，在cmakelist.txt里面增加字段

# ros open core dump 
SET(CMAKE_BUILD_TYPE "Debug")  
SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g -ggdb")
SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")

当生成core文件时，使用gdp进行回溯

//默认生成路径：输入可执行文件运行命令的同一路径下
//默认生成名字：默认命名为core。新的core文件会覆盖旧的core文件(例如：core-agv_navigate_no-40086-1681713696)
//gdb App  core
//gdb: bt  #回溯 第一个显示的行3103即是崩溃的行
//#2  0x76a60654 in InitAGVCore (nStep=11) at ../../../../AgvNavigate/Kernel.cpp:3103
//gdb ./devel/lib/agv_navigate/agv_navigate_node  ~/.ros/core-agv_navigate_no-333528-1673057645
//https://blog.csdn.net/jiesunliu3215/article/details/128588294