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Using a Debug Environment

Learning objectives

The tutorial will show you how to create and use a debug environment and use IDE capability to modify your executable.

Estimated time

25 minutes

Creating the io-tutorial build

To create the build, follow the below steps. Skip the following steps if you have already created an io-tutorials build earlier.

  1. On the left navigation bar, click Development>Builds.
  2. Click on ADD NEW BUILD
  3. In the Build Name box, enter a name for the build, for example, io-tutorials
  4. In the Git repository box, enter the URL address: https://github.com/rapyuta/io_tutorials, select Build Recipe as Catkin and click Next.
  5. Select the ROS version as Melodic .
  6. Go to the next step and click on next, the build will be created.

The build takes about two to five minutes to build the source code in the io_tutorials repository into a running docker container. You may analyze the corresponding build logs, which helps in debugging failed builds. After you create the build, create the Talker package.

Create Talker Package

  1. On the left navigation bar, click Development>Catalog.
  2. Click ADD PACKAGE.
  3. In the Package Name box, type in a name for the package like Talker.
  4. In the Package Verison box, enter the version of the package you are creating. The default value is 1.0.0
  5. Make sure Is singleton package is not selected.
  6. Ensure Is bindable package is selected.
  7. In the Description box, explain what the package is about, for instance, the description of this package is ROS Publisher.
  8. Click NEXT.
  9. In the Component Name box, enter a name for the component, for example, TALKER.
  10. Select Cloud for Component Runtime.
  11. Ensure Is ROS Component is selected.
  12. Select Melodic for ROS Version.
  13. The default value of Replicas to run the component is set to 1
  14. In the Executable Name box, enter a name for an executable, for example, talker_executable.
  15. Click Development>Builds for Executable Type.
  16. Select io-tutorials builds from the dropdown
  17. In the Command to run in the docker container box, enter the command: roslaunch talker talker.launch
  18. The talker_executable publishes a ROS topic /telemetry. To add a ROS topic, click Add ROS topic. In the Name box, type in the ROS topic. Select Maximum as the value for QoS.
  19. Click NEXT > CONFIRM PACKAGE CREATION.

Create Cloud Routed Network

Follow these steps to create a cloud routed network.

  1. On the left navigation bar, click Networking>Networks.
  2. Click ADD NEW NETWORK and select Routed Network.
  3. Enter a name for routed network. For this tutorial, type routed_network_1 as the routed network.
  4. Select ROS Distro as Melodic.
  5. Select the Runtime as Cloud.
  6. Click CONTINUE.

Deploying a routed network is identical to deploying any other package and has identical corresponding phases and errors. Once the routed network deployment succeeds, other ROS package deployments can bind to it and communicate.

Deploying the package

  1. Click Development>Catalog > and select Talker package.
  2. Click Deploy package.
  3. In the Name of deployment box, enter a name for the deployment , for example, dep11
  4. Click Add next to the Routed Network field.
  5. From the Network drop-down menu, select routed_network_1 as the routed network.
  6. Click CREATE DEPLOYMENT > Confirm.

You will be redirected to the Details tab of the newly created deployment. The package is successfully deployed when the green colored bar moves from In progress to Succeeded indicating that the DEPLOYMENT PHASE has Succeeded and the STATUS is Running.

Creating a Debug Environment

  1. In 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.

  2. In the Name field, type debugenv-1as the name for the debug environment.

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

  3. Click the following capabilities.

    • IDE
    • Shell
    • Rviz
    • RQT
  4. Click Connect. It takes few minutes and the debug environment is created.

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

Debugging Capability using IDE

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.

To modify the code 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

  1. By default, the IDE opens / of your deployment, navigate to the file that you want to edit. In this case, /opt/catkin_ws/src/talk/talker/talker.py and change the source code to welcome to rapyuta.io in the talker.py file.

  2. Open a terminal from the IDE, click the hamburger menu in the VS code editor and click Terminal > New Terminal.

  3. 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.

IDE

  1. If you want to add the changes to your version control system like git, do the following.

    a. Install git by running apt-get install git in the terminal if you are using a ubuntu machine or use apk add git if you are using alpine.

    b. Run the git commands to add and commit your changes.

    c. Push your changes to the version control system.

When you try to push your changes through the terminal, it prompts you to enter your git authorization token. Ensure that you have the token handy while trying to push your changes.