Debugging Guide¶
Advanced debugging and diagnostics for AQUA Stack.
Enable Debug Logging¶
# Set log level to DEBUG
export AQUA_LOG_LEVEL=DEBUG
# Launch with verbose output
roslaunch aqua_stack bringup.launch log_level:=debug
Diagnostic Tools¶
System Status¶
SLAM Visualization¶
# View SLAM state in RViz
roslaunch aqua_slam slam_rviz.launch
# Monitor keyframes
rostopic echo /aqua/slam/keyframes
# Check feature counts
rostopic echo /aqua/slam/features
Navigation Monitoring¶
# View planned path
rostopic echo /aqua/navigation/path
# Monitor control commands
rostopic echo /aqua/control/cmd_vel
# Check waypoint progress
aqua-mission status --verbose
Log Files¶
Located at ~/.aqua/logs/:
# View recent logs
tail -f ~/.aqua/logs/aqua-$(date +%Y%m%d).log
# Search for errors
grep ERROR ~/.aqua/logs/*.log
# Filter by component
grep "SLAM" ~/.aqua/logs/*.log
Performance Profiling¶
# CPU usage by component
aqua-profile cpu
# Memory usage
aqua-profile memory
# Network bandwidth
aqua-profile network
Reporting Bugs¶
Include:
1. Log files
2. Configuration files
3. Steps to reproduce
4. System information: aqua-sysinfo
Email to: support@signalbotics.com