by Romain Henry and Florent Willemin
The first solution we found out is just to comment out _laserCloudSurround->clear(); in LaserMapping.cpp. However, this trick will fill up the RAM since it just doesn't clear the data structures of the LOAM algorithm. For more details, please refer to our report TO52_2018_Henry_Willemin.pdf.
- Select the branch that is interesting to you
- !!! Don't install Qt !!!
- Follow this tutorial first : https://ros-industrial.github.io/ros_qtc_plugin/_source/How-to-Install-Users.html
- Open Qt, create new project by using "other project" and selecting "ros workspace" and your dedicated workspace
- Manage your compilation and run tool chain (click on projects on the left)
- In run, you may have one launch step with package loam_velodyne and [loam_velodyne.launch] {depend of your branch} as target.
See : http://wiki.ros.org/ROS/Concepts to get informations about it.
- the
loam_velodyne_xxx.launchwill :- start the master (allow the nodes to find each other, exchange messages and use services)
- start the nodes (processes) written in cpp (or py) and compiled using gcc + rviz (a nodes)
- start the the LiDAR record (we used a ".bag")
- start a node that will translate the content of the ".bag" in pointclouds
To debug, only one object (one node) could be debug :
- Don't forget to allow ptrace ! by following these instructions :
- Open file: sudo gedit /etc/rc.local
- Add this line before the exit 0 line: echo 0 | tee /proc/sys/kernel/yama/ptrace_scope
- Insert your breakpoint
- Menu Bar > Debug > Start Debugging > Attach to Unstarted Application...
- Browse to the executable (devel/lib/loam_velodyne/multiScanRegistration) by exemple
- select start watching
- run your project (Ctrl + R)
- depending on where the breakpoints it should be stop when it reaches one