After reading and running the code of this chapter, you learned to use many tools that help you to develop robotic systems faster, debug errors, and visualize your results, so that you can evaluate their quality or validate them. Some of the specific concepts and tools you will exploit the most in your life as a robot developer have been summarized here.

Now you know how to include logging messages in your code with different levels of verbosity, which will help you to debug errors in your nodes. For this purpose, you can also use the powerful tools included in ROS, such as the rqt_console interface. Additionally, you can also inspect or list the nodes running, topics published, and services provided in the whole system. This includes the inspection of the node graph using rqt_graph.

Regarding the visualization tools, you should be able to plot scalar data using rqt_plot for a more intuitive analysis of certain variables published by your nodes. Similarly, you can view more complex...