5.4. GDB debug

Debugging ROS 2 programs with GDB involves several steps:

5.4.1. Config debug

Set CMAKE_BUILD_TYPE to Debug in orbbec_camera/CMakeLists.txt

set(CMAKE_BUILD_TYPE Debug)

5.4.2. Use xterm terminal to open gdb debugging

Install xterm

sudo apt install xterm

Take gemini_330_series.launch.py as an example to use xterm terminal to open gdb