Apollo: How to use gdb for debug in apollo?

[lesun90]

Can you provide a tutorial/example how to use gdb to debug in apollo? the log file method is helpful but not convenient enough for debugging (eg debug memory leak..)

For example: can you show how to debug planning module use gdb?

Thank you all.

[muleisheng]

Apollo is made up some submodules. These modules are built in bazel-bin/modules// . You could use gdb to debug them. For example, You want to debug perception, you could use command as following.
gdb bazel-bin/modules/perception/perception

You could try this method. And please feel free to let me know if you have any other problem.

[kk2491]

@muleisheng thanks for the input.. @lesun90 Please let me know if you try it.. Even I am looking for the same approach ..

[lesun90]

Hi,

I still dont not clear what to do.
I try gdb bazel-bin/modules/perception/perception

and get apollo_app.cc:59] perception Init failed: PERCEPTION when I run in gdb

[muleisheng]

Hi
perception may need some input params, for example, some configuration data (or files). I will check this issue by reviewing code. If any progress , I will let you know.

[lianglia-apollo]

I suggest search for some tutorials on gdb for details.

[muleisheng]

Here is steps for debugging perception.

1. use following command to start debug perception
   gdb bazel-bin/modules/perception/perception
2. set args for perception by using 'set args', here is a sample.
   set args --flagfile=/apollo/modules/perception/conf/perception_lowcost.conf --stderrthreshold=3 --use_navigation_mode

You could try this method. It may solve your issue

[RamboRick]

Hi,
I have tried this method but when I go into gdb bazel-bin/modules/perception/perception.
set args --flagfile=/apollo/modules/perception/conf/perception_lowcost.conf --stderrthreshold=3 --use_navigation_mode
It is still not work.
The error message is can not open shared object file.
Thank you.

[CCodie]

@muleisheng @fanghaos2014
Hi fang, have you done with that issue, debugging the perception module ?
I also want to debug the perception module with VScode. And I wonder the above problem was that user have to feed some required data for running perception module like playing ROS bag.
Can anyone give me some guide? Thanks.