ROS Debug tools

Logging

5 logging levels:

  • DEBUG
  • INFO
    • WARN
    • ERROR
      • FATAL

Logging levels

Code example 

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rospy.init_node('log_demo', log_level=rospy.DEBUG)

while not rospy.is_shutdown():
  rospy.logdebug("Debug msg")
  rospy.loginfo("Info msg")
  rospy.logwarn("Warning msg")
  rospy.logerr("Error msg" )
  rospy.logfatal("Fatal msg")

rqt_console

GUI for log messages.

rqt_console

rqt_console

rqt_plot

Graphical plot of signals from selected topics.

rqt_plot

rqt_plot

rqt_graph

Shows connection between nodes in the system.

rqt_graph

rqt_graph

RViz

RViz visually represents data from topics.

RViz is NOT a simulation, it represents the current state of the robot

rosrun rviz rviz
rviz