How to record the coredump file in autoware running for problem tracing and debugging?

[hzkkk1997]

In the process of development based on autoware, it may appear that after adding code, the module of adding code will crash when running, but the information printed by the terminal can not be seen which line caused, please ask how to record coredump file in the autoware project.

[maxime-clem]

This problem is not specific to Autoware so you can look at generic guides about core dumps for your OS. For a guide more specific to ROS 2 see https://docs.nav2.org/tutorials/docs/get_backtrace.html

My recommendation for development is to execute the node you are working on with gdb in a separate terminal. This will allow easier debugging in case of crashes, and also faster development as you will be able to restart the node without having to restart Autoware (by doing CTRL+C in gdb to interrupt the program, and then run to restart it).

[hzkkk1997]

Thank you very much for your reply, but I cannot find this variable wheel_radius in this node. Why is this variable initialization problem still reported?。。

[maxime-clem]

It is a parameter of the vehicle info used by the node.

[hzkkk1997]

Thank you, that is, when starting this node alone, this code is loading the vehicle parameters but does not load correctly?

[maxime-clem]

The vehicle specific parameters are not provided at launch time. So when VehicleInfoUtil is initialized it crashes because it cannot find the parameters.

[hzkkk1997]

Thanks a lot ：）

[villaoningfootball]

You can refer to the configuration for generating core files in Linux system

[hzkkk1997]

Thanks for your answer, I tried this approach, but this coredump file seems to take up a lot of memory space, and it seems difficult to save some crashes on the node I was concerned about. Do you have a configuration tutorial for me to learn? Thanks in advance!