How To Add Breakpoints To Objectives
MoveIt Pro allows setting breakpoints wherever one wants to pause Objective execution. It allows users to investigate the internal state of the program during
Launch MoveIt Pro
We assume you have already installed MoveIt Pro to the default install location. Launch the application using:
moveit_pro run -c lab_sim
Adding Breakpoint to Objective
Add the behavior BreakpointSubscriber
to your objective to add breakpoints.
Here is an Objective with a breakpoint.
Resuming Objective Execution After Encountering Breakpoint
In the top right corner of the MoveIt Pro window, hit the Resume button to continue Objective execution after encountering a breakpoint.
Command Line Interface to Step Through Breakpoints
Open an interactive Bash session with the MoveIt Pro Agent Docker container:
moveit_pro shell
Enter the following command to continue Objective execution when an Objective is paused on a breakpoint behavior.
ros2 topic pub --once /moveit_pro_breakpoint std_msgs/msg/Bool "{data: true}"