Debugging

Debugging should start from individual modules before running the full navigation stack.

Recommended order

Odometry
IMU
Lidar
Camera image
Mapping
Navigation

Common launch files

bash

ros2 launch osracer_debug debug_odom.launch.py
ros2 launch osracer_debug debug_imu.launch.py
ros2 launch osracer_debug debug_lidar.launch.py
ros2 launch osracer_debug debug_image.launch.py

Mapping debug

bash

ros2 launch osracer_slam gmapping.launch.py
ros2 launch osracer_slam slam_toolbox.launch.py
ros2 launch osracer_slam cartographer.launch.py
ros2 launch osracer_debug debug_mapping.launch.py
ros2 launch osracer_debug debug_cartographer.launch.py