编译带上调试标志
catkin_make -DCMAKE_BUILD_TYPE=Debug
lauch file 指明调试
<node pkg="nodelet" type="nodelet" name="rtk_nodelet" args="load slam_lidar/RtkNodelet $(arg nodelet_manager)" output="screen" launch-prefix="gnome-terminal -x gdb -ex run --args"/>
或者
<node name="navit_controller_node" pkg="navit_controller" type="navit_controller_node" output="screen" launch-prefix="gnome-terminal -x gdb --args">