Debug

version

$ rosversion -d

tf

$ rosrun tf view_frames
$ rosrun tf tf_monitor map odom

http://wiki.ros.org/tf/Tutorials/Debugging tf problems

install rqt_graph

$ sudo apt-get install ros-<distro>-rqt
$ sudo apt-get install ros-<distro>-rqt-common-plugins

rqt Debug

$ rqt_console // to get all errors, rqt_console should be up before roslaunch.

$ rqt_image_view

$ rqt_graph // show nodes & topics

$ roswtf

roswtf: show error & warning: [1]node subscribers not being connected [2] node that has died.

Publish to rostopic

$ rostopic info /odom
$ rostopic echo /odom

$ rostopic pub /cmd_vel geometry_msgs/Twist  "linear:
  x: 0.1
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.1"

rostopic + rosmsg + rqt_plot Debug

$ rostopic list

$ rostopic info cmd_vel // msg = Twist

$ rosmsg info Twist

$ rqt_plot cmd_vel/linear/x cmd_vel/angular/z