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">