Hi! I am fairly new to ROS and I am trying to debug my first planning algorithm.
I am using QT Creator as IDE and I found very useful its debugging functionality based on GDB. Now, it seems natural to me to use topics to send out debugging information, in this case poses, to visualise them in RVIZ. The problem is that this does not work as expected.
I can see that some poses are displayed correctly in RVIZ, but when I cycle between breakpoints the poses are not updated accordingly to the code. For example I can cycle through a publish call a couple of time and nothing is published, then the third time all the messages that were not published (if the publisher queue is long enough) get published at the same time. This is absolutely not consistent over time, and sometime the messages get published almost at every cycle, sometime after 3, sometime after 10, sometime after more than 20 calls to the publish function.
I noticed that the repeatability of the publishing rate is somehow related to the frequency at which I run through the breakpoints. When I run through the breakpoints as quickly as possible, the poses are published almost (but not always!) every time. Of course, running through the breakpoints is not in line with the need for debugging.
It seems like something goes to sleep when the messages are not published regularly, either the publisher, or the subscribers. I tried to disprove one of the two hypothesis by checking the messages that are sent with rostopic echo, and this behaves exactly like rviz: whenever the messages are received in rviz, they are displayed by echo, so either they go to sleep and wake up at the same time, or the problem is in the publisher.
Please help!!!
Thanks.
↧