6/ Debugging the implementation

6.1/ Debugging Entity / Controller implementations

There are few ways to debug the controller before running anything on the real robot:

1. Creating a simulation device using the robot yaml file (Recommended)
   1. Create a robot device using the yaml file of the robot (found in robot_properties/robot_name/config/robot_name.yaml)
   2. initialize your control graph and set up your control graph with all its entities.
   3. run a loop executing the graph to verify the output from the controller.
   4. An example of this implementation is available here : https://git-amd.tuebingen.mpg.de/amd-clmc/dg_blmc_robots/blob/master/demos/quadruped/quad_simu.py
      1. Copy the robot init part before your control graph and change the name to the robot being used (initializes the robot device.)
      2. copy the robot simulation part after your control graph and modify the code to make it suitable for the robot.yaml. (change number of joint, etc...)
      3. run the python file along with roscore to debug.
2. Using Pybullet (available for quadruped and Teststand)
   1. example simulations for teststand are available here : https://git-amd.tuebingen.mpg.de/amd-clmc/dg_blmc_robots/tree/master/demos/teststand/simulations
   2. example simulations for quadruped are available here : https://git-amd.tuebingen.mpg.de/amd-clmc/dg_blmc_robots/tree/master/demos/quadruped/simulations
3. Create the entity alone in python and feed it with constant vectors

6.2/ Debugging Dynamic Graph Manager

To debug the low-level of dynamic graph manager, use GDB.

INFORMATION:

To avoid SIGINT to get caught by GDB, execute the line handle SIGINT nostop pass on the GDB command line.

When to use GDB :

1. Segmentation faults
2. python terminal displays following : (This is seen in the terminal in which the python script is run)

   Connection to remote server lost. Reconnecting...
   Retrying previous command...
   Connection to remote server lost. Reconnecting...

GDB for Python :

To debug python files using gdb use the following command:

gdb -ex r --args python <programname>.py <arguments>