Debugging and Reporting

There are three topics that can help debug almost all weird problems and help support non-weird ones. If reporting issues, it is worth recording these in the log.

1. current_state: Should be published at a sufficiently high rate (100Hz+). Also check that current_state/state_vector[0] and current_state/state_vector[1] correspond to north and east movements, respectively. In increase in the position along north should correspond to a positive velocity in north (current_state/state_vector[3]).

2. reference_state: Some entity in your system needs to be publishing this constantly, or have published it at least once. Collecting this is useful to see if your reference trajectory makes sense (and of course, plotting).

3. controller_debug and/or rpyt_command: Mostly for debugging purposes only, not necessary in a stable daily operation). These are published only if at least one reference_state is known to the controller. controller_debug is a larger-sized message, but contains lots of useful information when debugging.

Some information repeated on this page too: Verification Checks.