How to insert breakpoints and step through a Gazebo plugin?

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Assuming that you are new about debugging tools, I give you simple example with GDB or LLDB. Just attach to a running process by like this command, and then insert breakpoints.

• GDB

gdb -p $PROCESS_ID

• LLDB

lldb attach -p $PROCESS_ID

• How to know $PROCESS_ID

ps aux | grep gzserver

After a process was attached, you can use debugger commands. (e.g. set breakpoints, stepwise execution, continue. blah blah)