Help us make these docs great!

All rapyuta.io docs are open source. See something that's wrong or unclear? Submit a pull request.

Make a contribution

Creating Debug Environment

Creating a Cloud Debug Environment

You can create a debug environment for any cloud runtime component in a deployment. Do the following to create a debug environment

Debug environment works best if your cloud runtime component is at least above 1 core i.e small.

  1. On the deployment details page, click the Debug Environment drop-down menu, select the component and then select the executable for which you want to create a debug environment. The Create New Debug Environment page is displayed. debug-capability

  2. In the Name field, type a name for the debug environment.

    Same debug environment with different names throws an error in the same project.

  3. Click the capabilities that you want to use to debug the executable.

    • IDE
    • Shell
    • Rviz
    • RQT
  4. Click Connect. It takes a few minutes to complete the connection process and if the connection status is in Complete state, the debug environment is created successfully. For more information about connection status, click here.

After the debug environment is created, copy the Access Key to a clipboard. You will need the access key as the password to access any capability of this debug environment.

In case your cloud component contains multiple replicas, debug environment will always be connected to the first running replica.

Debugging using Capabilities

After you have created a debug environment, click the environment to debug your application. You can use one or more of the following capabilities to debug your executable.

IDE

To debug using IDE capability, do the following.

  1. After your debug environment is created, navigate to the debug environment by clicking the Debug environment drop-down.

  2. Click IDE as the capability.

  3. Enter the access key as the password when prompted. An online VS code editor is displayed. The browser based editor allows you to do the following.

IDE

  • To edit the source code, navigate to the directory and click the file to edit your executable.
  • To open a terminal from the IDE, click the hamburger menu in the VS code editor and click Terminal > New Terminal.
  • After you make the required changes, to restart your executable using catkin build recipe, type restart-deployment-executable in the terminal. It takes few minutes to restart and the updated changes are reflected in the deployment. For other types of docker images click here.

Shell

To debug using the Shell capability, do the following.

  1. After your debug environment is created, navigate to the debug environment by clicking the Debug environment drop-down.

  2. Click Shell as the capability.

  3. Enter the access key as the password when prompted. A GUI based Shell is displayed and allows you to run custom commands or open tools like RQT and RVIZ.

  4. The shell interface also allows you to copy a command from a different Window and paste the command in the shell. First, use the clipbard icon to paste the command from the window and from the clipboard you can copy and paste the command to the shell. If you want to copy any text from the shell, use the clipbard icon to paste the text and from the clipboard you can copy the text and use it in other interfaces.

shell

RQT

To visualize your ROS components in a deployment using the RQT tool, do the following.

  1. After your debug environment is created, navigate to the debug environment by clicking the Debug environment drop-down.

  2. Click RQT as the capability.

  3. Enter the access key as the password when prompted. A RQT tool is displayed. You can visualise the graphical representation of your ROS nodes in your deployment. For more information about using the RQT tool, click here

rqt

RVIZ

To view the 3D model of your robot using the RVIZ capability, do the following.

  1. After your debug environment is created, navigate to the debug environment by clicking the Debug environment drop-down.

  2. Click RVIZ as the capability.

  3. Enter the access key as the password when prompted. A RVIZ tool is displayed with a 3D model of your components.

rviz

  1. To add a new display, click Add in the RVIZ UI. For more information about using the RVIZ tool, click here.

Updating a Cloud Debug Environment

The update functionality of a debug environment allows you to add or remove debug capability for the environment. Do the following to update a debug environment.

  1. Navigate to the debug environment in the deployments details page and click Update.

  2. Select the capability that you want to add to the debug environment or de-select the capability to remove any capability from the debug environment.

  3. Click Update. The debug environment is updated.

Viewing Cloud Debug Environments

You can view all the available debug environments in a list view. Do the following to view all the environments.

  1. In the left pane, click Development>Debug Environment. All the available debug environments are displayed in a list view.

list-view-debugenv

Deleting a Cloud Debug Environment

To delete a cloud debug environment, do the following.

Before you start deleting or deprovisioning a deployment, ensure that you have deleted the debug environment connected with the deployment.

  1. Navigate to the debug environment in the deployments details page and click Delete.
  2. A confirmation page is displayed. Click Confirm. The debug environment is deleted.