{"id":10791,"date":"2024-11-30T17:33:40","date_gmt":"2024-11-30T09:33:40","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=10791"},"modified":"2026-05-28T17:25:10","modified_gmt":"2026-05-28T09:25:10","slug":"autoware-coredump%e9%97%ae%e9%a2%98%e5%ae%9a%e4%bd%8d","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=10791","title":{"rendered":"Autoware\u2014coredump\u95ee\u9898\u5b9a\u4f4d"},"content":{"rendered":"

\u6211\u4eec\u5728docker\u5185\u8c03\u8bd5autoware.ai\u7684\u8fc7\u7a0b\u4e2d\uff0c\u6709\u65f6\u4f1a\u9047\u5230\u67d0\u4e2a\u4e09\u65b9\u6a21\u5757\u5f02\u5e38\u9000\u51fa\uff0c\u5373\u6ca1\u6709log\u4e5f\u6ca1\u6709\u751f\u6210coredump\u6587\u4ef6\uff0c\u672c\u6587\u5c31\u8bb2\u89e3\u4e0b\u5982\u4f55\u5728\u5b9a\u4f4d\u8fd9\u7c7b\u95ee\u9898\u3002<\/p>\n

\u4e00\u3001\u4f7f\u7528root\u6743\u9650\u8fdb\u5165docker\u5bb9\u5668<\/h1>\n

autoware.ai\u9ed8\u8ba4\u4f7f\u7528ubuntu18\u7f16\u8bd1\uff0c\u5f88\u591a\u540c\u5b66\u4f1a\u4f7f\u7528docker\uff0c\u800c\u9ed8\u8ba4\u4f7f\u7528autoware\u7528\u6237\u8fdb\u5165docker\u65f6\uff0c\u662f\u6ca1\u6cd5sudo\u6267\u884c\u547d\u4ee4\u7684\uff0c\u4f1a\u63d0\u793a\u201csudo: \/usr\/bin\/sudo must be owned by uid 0 and have the setuid bit set\u201d\uff0c\u6240\u4ee5\u8fd9\u91cc\u6211\u4eec\u9996\u5148\u4f7f\u7528root\u6743\u9650\u767b\u9646\u3002<\/p>\n

\u7f16\u5199open-docker\u811a\u672c\uff1a<\/p>\n

vim  open-docker.sh \r\n\r\n# run docker\r\ncd $HOME\/autoware.ai\/generic\/\r\n.\/run.sh --cuda on -b $HOME\/autoware.ai\/Autoware,$HOME\/autoware.ai\/Robot -i yanjingang\/autoware<\/code><\/pre>\n
\u7f16\u5199exec-docker\u811a\u672c\uff1a<\/p>\n
vim exec-docker.sh\r\n\r\n#!\/bin\/bash\r\n\r\nset -x\r\n\r\n# newgrp docker\r\n\r\nCONTAINER_ID=`docker ps|awk 'NR==2{print $1}'`\r\nCONTAINER_USER=autoware\r\n\r\nif [ $# -ge 1 ]; then\r\n    CONTAINER_USER=$1\r\nfi\r\ndocker exec --user $CONTAINER_USER -it $CONTAINER_ID \/bin\/bash<\/code><\/pre>\n
\u542f\u52a8\u955c\u50cf\u5bb9\u5668\uff1a<\/p>\n
.\/open-docker.sh<\/code><\/pre>\n
\u4f7f\u7528root\u767b\u5f55\u5df2\u7ecfopen\u7684\u5bb9\u5668\uff1a<\/p>\n
.\/exec-docker.sh root<\/code><\/pre>\n
<\/h1>\n
\u4e8c\u3001\u6253\u5f00coredump\u6587\u4ef6\u751f\u6210<\/span><\/h1>\n
1.\u652f\u6301\u751f\u6210coredump\u6587\u4ef6<\/h4>\n
# \u67e5\u770b\u5f53\u524d\u8bbe\u7f6e\r\ncat \/etc\/security\/limits.conf|grep core\r\nulimit -c      # \u5982\u679c\u662funlimited,\u8bf4\u660e\u8bbe\u7f6e\u6210\u529f\r\n# \u8bbe\u7f6e\uff08\u6700\u597d\u52a0\u5230\u4e1a\u52a1\u542f\u52a8\u547d\u4ee4\u91cc\uff09\r\nulimit -c unlimited<\/code><\/pre>\n
2.\u4fee\u6539coredump\u6587\u4ef6\u751f\u6210\u4f4d\u7f6e\u548c\u547d\u540d\u89c4\u5219<\/h4>\n
# \u67e5\u770b\u76ee\u524d\u4f7f\u7528\u7684\u65b9\u5f0f\r\ncat \/proc\/sys\/kernel\/core_pattern\r\n# \u4fee\u6539\u751f\u6210\u4f4d\u7f6e\u548c\u547d\u540d\u89c4\u5219\uff08\u5fc5\u987bbash -c 'echo xxx'\u65b9\u5f0f\uff0c\u4e0d\u80fd\u901a\u8fc7vi\u4fee\u6539\uff0c\u4e0d\u6307\u5b9a\u8def\u5f84\u65f6\u9ed8\u8ba4\u751f\u6210\u5230~\/.ros\/*.core\uff09\r\nbash -c 'echo \"\/coredump\/%e-%p-%t.core\" > \/proc\/sys\/kernel\/core_pattern'\r\n# \u68c0\u67e5\u662f\u5426\u751f\u6548\r\ncat \/proc\/sys\/kernel\/core_pattern\r\n# \u547d\u540d\u683c\u5f0f\u5316\u53c2\u6570\u8bf4\u660e:\r\n%p - insert pid into filename \u6dfb\u52a0pid\r\n%u - insert current uid into filename \u6dfb\u52a0\u5f53\u524duid\r\n%g - insert current gid into filename \u6dfb\u52a0\u5f53\u524dgid\r\n%s - insert signal that caused the coredump into the filename \u6dfb\u52a0\u5bfc\u81f4\u4ea7\u751fcore\u7684\u4fe1\u53f7\r\n%t - insert UNIX time that the coredump occurred into filename \u6dfb\u52a0core\u6587\u4ef6\u751f\u6210\u65f6\u7684unix\u65f6\u95f4\r\n%h - insert hostname where the coredump happened into filename \u6dfb\u52a0\u4e3b\u673a\u540d\r\n%e - insert coredumping executable name into filename \u6dfb\u52a0\u547d\u4ee4\u540d\r\n# qnx\u7cfb\u7edf\u4e0b\u6ca1\u6709\/proc\/sys\/kernel\/core_pattern\u6587\u4ef6\uff0c\u9700\u8981\u7528\u547d\u4ee4\u6307\u5b9a\u4fdd\u5b58\u76ee\u5f55\r\nmkdir \/coredump\/\r\nchmod 777 \/coredump\/<\/code><\/pre>\n
3.\u5b89\u88c5gdb\u5de5\u5177<\/h4>\n
apt install -y gdb<\/code><\/pre>\n
4.\u4fdd\u5b58\u955c\u50cf\u4fee\u6539<\/h4>\n
# \u83b7\u53d6\u5bb9\u5668ID\r\nCONTAINER_ID=`docker ps|awk 'NR==2{print $1}'`\r\n\r\n# \u5bfc\u51fa\u5bb9\u5668\u4e3a\u955c\u50cf\r\ndocker commit -a \"yanjingang\" -m \"autoware.ai\"  $CONTAINER_ID yanjingang\/autoware:latest-melodic-base-cuda\r\n\r\n# \u68c0\u67e5\u955c\u50cftag\u72b6\u6001\r\ndocker image ls\r\n\r\n# \u955c\u50cf\u6253\u5305\u4e3atar\u5305\r\ndocker save -o autoware-latest-melodic-base-cuda.tar  yanjingang\/autoware:latest-melodic-base-cuda\r\n\r\n# push\u672c\u5730\u955c\u50cf\u5230hub\r\ndocker login\r\ndocker push yanjingang\/autoware:latest-melodic-base-cuda\r\n<\/code><\/pre>\n
 <\/p>\n
\u4e09\u3001\u7f16\u8bd1ROS Debug\u5305<\/h1>\n
1. CMakelist.txt\u914d\u7f6e<\/h4>\n
\u5728\u7f16\u8bd1ROS\u8fdb\u7a0b\u7684CMakelist.txt\u4e2d\u6dfb\u52a0\u4e0b\u9762\u547d\u4ee4\uff0c\u4f7f\u7f16\u8bd1\u4ea7\u751f\u7684\u6267\u884c\u6587\u4ef6\u5305\u542bgdb\u8c03\u8bd5\u4fe1\u606f\u3002<\/p>\n
SET(CMAKE_BUILD_TYPE \"Debug\")\r\nSET(CMAKE_CXX_FLAGS_DEBUG \"$ENV{CXXFLAGS} -O0 -Wall -g -ggdb\")\r\nSET(CMAKE_CXX_FLAGS_RELEASE \"$ENV{CXXFLAGS} -O3 -Wall\")<\/code><\/pre>\n
CMAKE_BUILD_TYPE\u662fCMake\u4e2d\u7684\u4e00\u4e2a\u53d8\u91cf\uff0c\u53ef\u4ee5\u7684\u53d6\u503c\u662f<\/p>\n
Debug\r\nRelease\r\nRelWithDebInfo\r\nMinSizeRel<\/code><\/pre>\n
\u5f53\u8fd9\u4e2a\u53d8\u91cf\u503c\u4e3aDebug\u65f6\uff0cCMake\u4f1a\u4f7f\u7528\u53d8\u91cfCMAKE_CXX_FLAGS_DEBUG\u3001CMAKE_C_FLAGS_DEBUG\u4e2d\u7684\u5b57\u7b26\u4e32\u4f5c\u4e3a\u7f16\u8bd1\u9009\u9879\u751f\u6210Makefile\uff0c\u76f8\u5e94\u7684\u7f16\u8bd1\u9009\u9879\u5c31\u662f\u5728\u8fd9\u91cc\u6307\u5b9a\u3002<\/p>\n
CMAKE_CXX_FLAGS_DEBUG\u4e2d\u7684\u7f16\u8bd1\u9009\u9879\u89e3\u91ca\uff1a<\/p>\n