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Tracing BT execution

asked 2020-08-18 01:45:07 -0600

siddhya
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I would like to know which node the BT is executing currently (don't want to halt the executing). Is there a debugging option I can turn on for that? If not, what is the best place to add a debug print (like, when the executing node changes maybe). Thanks.

-siddarth

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answered 2020-08-18 11:52:20 -0600

stevemacenski

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I think you're more likely for an answer if you file a ticket on BT.CPP. There are ways of doing this, but most of them I know would involve a person editing all your nodes to store some info or log to a topic. In Nav2, we have the topic logger (see below) which can have a similar role.

https://github.com/ros-planning/navig...

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Asked: 2020-08-18 01:45:07 -0600

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Last updated: Aug 18 '20

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