# Debugging with Foxglove

This tutorial describes how to perform debugging using Foxglove.

## FOXGLOVE INSTALLATION

After you have completed the initial setup for CogniPilot on a native ubuntu machine, open a new terminal and run "build\_foxglove" to install foxglove on your machines.

* Note: If this command is not found, restart your system and try again.
* Select "y" when asked for clone repositories using git with already setup github ssh keys.
* Select "1" when asked for which release to be used - airy (1) or main (2).

## FOXGLOVE DEBUGGING

### PREREQUISITES

**NOTE: When working with hardware buggy, the debug topics must be added to the default\_value of topic\_whitelist in b3rb\_robot/b3rb\_bringup/launch/robot.launch.py as well, as shown in the steps below. Then build, source and run. The changes made on cranium must be done on NavQPlus and not the UBUNTU HOST MACHINE.**

1. Camera Images: We can publish debug images from "b3rb\_ros\_line\_follower/b3rb\_ros\_line\_follower/b3rb\_ros\_edge\_vectors.py". For publishing debug images from other ROS2 nodes, follow similar process.
   * Create a new publisher in the **init** function as shown in the attached image. We need to create a new topic and in our case we have chosen "/debug\_images/vector\_image".
   * ![alt text](/files/hXgiqczyDD3G3gKCmRAT)
   * Now, pass this publisher (self.publisher\_vector\_image) and the image as arguments to the "publish\_debug\_image" function whenever you want to output your debug images.
   * Open a new terminal and run the following commands.
     * cd \~/cognipilot/cranium
     * colcon build
     * source install/setup.bash
   * Append the same topic name "/debug\_images/vector\_image" to the default\_value of topic\_whitelist in electrode/src/electrode/launch/electrode.launch.py as shown in the attached image.
   * ![alt text](/files/EdZpdL8mwTpFMjFrPZgK)
   * **When working with hardware buggy** append the same topic name "/debug\_images/vector\_image" to the default\_value of topic\_whitelist in b3rb\_robot/b3rb\_bringup/launch/robot.launch.py. The snippet of this argument is attached in the image below.
     * ![alt text](/files/0BJNKIxtiEnegya0SJH7)
     * Open a new terminal and run the following commands.
       * cd \~/cognipilot/cranium
       * colcon build
       * source install/setup.bash
   * Open a new terminal and run the following commands.
     * cd \~/cognipilot/electrode
     * colcon build
     * source install/setup.bash
2. LIDAR Data:
   * Append "/scan" to the default\_value of topic\_whitelist in electrode/src/electrode/launch/electrode.launch.py as shown in the attached image.
   * ![alt text](/files/hlvrGvaGU6QGIacFqbjA)
   * **When working with hardware buggy** append "/scan" to the default\_value of topic\_whitelist in b3rb\_robot/b3rb\_bringup/launch/robot.launch.py. The snippet of this argument is attached in the image below.
     * ![alt text](/files/0BJNKIxtiEnegya0SJH7)
     * Open a new terminal and run the following commands.
       * cd \~/cognipilot/cranium
       * colcon build
       * source install/setup.bash
   * Open a new terminal and run the following commands.
     * cd \~/cognipilot/electrode
     * colcon build
     * source install/setup.bash

### USING FOXGLOVE

* Open a new terminal and run the following command after starting the simulation (which is done using the command "ros2 launch b3rb\_gz\_bringup sil.launch.py world:=\<track\_name>")
  * ros2 launch electrode electrode.launch.py sim:=True
  * Then open connection to the url "ws\://localhost:8765"
* Camera Images.
  * Create a new Image panel as shown in the attached image.
  * ![alt text](/files/c3CvXLpBFyvEJhBJZkmi)
  * Then click on panel settings and select the topic for which you created a publisher in the "prerequisites" section.
  * ![alt text](/files/qEohM9kXcmu00pL81cRv)
  * Now this panel will display the image whenever you publish a debug image from your code to the said topic.
* LIDAR Data.
  * Create a new 3D panel by clicking on the add panel button from the top-left corner as shown in the attached image.
  * ![alt text](/files/uPhZfJKlErRWmXaEWpNk)
  * ![alt text](/files/sl5Dy3adpXGVg7jNeKC2)
  * You may switch to 2D camera since the LIDAR is 2D.
  * ![alt text](/files/bPXHxVcNeLc1MG2bAgqB)
  * Then click on panel settings.
  * ![alt text](/files/3Aq5rUhNisSZxdeODBER)
  * Toggle visibility of "/scan" under Topics.
  * ![alt text](/files/Tp9rmnbmCY1hkgvlc4DJ)
  * Then select "lidar\_link" in Display frame under Frame.
  * ![alt text](/files/sIQihpEwbMU6ukXWW9WZ)
    * If you don't immediately see the "lidar\_link" option available, then close the settings panel, play the simulation for a few seconds, then try again.
  * You may close the panel settings after this.
  * Please see the attached images for sample output.
  * ![alt text](/files/WkwYolMaLscroHQnDfzZ)
  * ![alt text](/files/Fb4i6XPGbc7HyNTA6hzM)
  * ![alt text](/files/2nyzspefmyzoW5R7d7Ic)
  * ![alt text](/files/wN2lZfqlU5RxgAaODgSW)


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