Developing ICEY

Developing ICEY#

Run tests:#

Tests are build by default, run them with:

cd <colcon-ws root>
./build/icey/test_main

Debug example node#

Useful: Install mixins: https://github.com/colcon/colcon-mixin-repository

colcon build  --packages-select icey --mixin=debug

Run with GDB#

ros2 run --prefix 'gdb -ex run --args' icey_examples <node name>

GDB 101:#

  • r run

  • c: continue

  • s, n: step, next, respectively

  • b <function name>: just type the function name to set a breakpoint

  • bt backtrace

  • p <expression name> : print the content of a variable

If you want to look at an exception that gets catched:

  • catch throw If your node crashes at Ctrl+C:

  • handle SIGINT noprint nostop pass

Debug unit test:#

Since gtest catches the exceptions, we need to catch them earlier.

So type in gdb: catch throw.

Then, do not use FastDDS since it uses exceptions as part of it’s regular (instead of exceptional) control-flow. CylconeDDS worked for me instead. Therefore, the overall command is:

RMW_IMPLEMENTATION=rmw_cyclonedds_cpp gdb ./build/icey/test_main

Run clang-tidy:#

  1. Compile with compile-commands:

    colcon build  --packages-select icey --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

  2. Install clang-15 and clang-tidy-15 apt packages, other versions do not work for me

  3. Run clang-tidy

    ~/autoware/src/icey/icey
clang-tidy -p ~/autoware/build/icey/ include/icey/*.hpp --fix -fix-errors

To fix the compilation with clang in case it does not build:

colcon build  --packages-select icey --cmake-args -DCMAKE_C_COMPILER=clang-15 -DCMAKE_CXX_COMPILER=clang++-15

Build documentation#

The doc folder contains all files needed to build a documentation using the Sphinx site generator. We parse the C++-code using doxygen

Dependencies:

  1. Install doxygen:

    sudo apt install doxygen

  2. pip :

    pip install -r requirements.txt

  3. Build:

    make html

Then, open the file _build/html/index.html in your browser for an offline view.

TODO deploy/GitHub actions

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