ros 程序断点调试_ros_tools.prompt 断点调试

Rviz虚拟调试工具

#include "moveit_visual_tools/moveit_visual_tools.h"

...

//绘制移动轨迹

string frame = group.getPlanningFrame();

moveit_visual_tools::MoveItVisualTools tools(frame);

tools.deleteAllMarkers();

//添加label

tools.publishAxisLabeled(pose, "target");

tools.trigger();

#include "moveit_visual_tools/moveit_visual_tools.h"

...

//绘制移动轨迹

string frame = group.getPlanningFrame();

moveit_visual_tools::MoveItVisualTools tools(frame);

tools.deleteAllMarkers();

//添加label

const moveit::core::JointModelGroup *jointModelGroup = group.getCurrentState()->getJointModelGroup(groupName);

tools.publishTrajectoryLine(plan.trajectory_, jointModelGroup);

tools.trigger();

可视化工具，目前只支持c++

Gui断点调试

// group库

#include "mov