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xuhao1 / VINS-Fisheye

Fisheye version of VINS-Fusion
GNU General Public License v3.0
308 stars 51 forks source link

What is the purpose of "BACKWARD"? #6

Closed engcang closed 3 years ago

engcang commented 3 years ago

Hi.

First I really appreciate that you guys shared this great repo. By the way, I wonder what the purpose of "BACKWARD" is.

It seems that this is only included in these two files: rosNodeTest.cpp, rosNodelet.cpp but never used over the whole codes.

Even it engenders compile error: No such file or directory #include <backward.hpp>, after solved the another issue /usr/bin/ld: cannot find -ldw by $ sudo apt install libdw-dev.

After I commented set(ENABLE_BACKWARD true) in the CMakeLists.txt, the codes could be built well (but not yet executed).

Thank you in advance.

xuhao1 commented 3 years ago

@engcang Backward is a cool project for debugging. Once VINS-Fisheye crashed on robots, it's impossible to debug it with GDB. Backward will print the traceback, which helps you to locate where the bug is.