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     </span>
   </a>
 
+</li>
+
+        <li class="md-nav__item">
+  <a href="#debugging-a-node-in-gdb" class="md-nav__link">
+    <span class="md-ellipsis">
+      Debugging a Node in GDB
+    </span>
+  </a>
+
 </li>
 
         <li class="md-nav__item">
@@ -1226,6 +1235,15 @@
     </span>
   </a>
 
+</li>
+
+        <li class="md-nav__item">
+  <a href="#debugging-a-node-in-gdb" class="md-nav__link">
+    <span class="md-ellipsis">
+      Debugging a Node in GDB
+    </span>
+  </a>
+
 </li>
 
         <li class="md-nav__item">
@@ -1365,6 +1383,29 @@ <h2 id="loading-a-urdf">Loading a URDF</h2>
 </span><span id="__span-6-15"><a id="__codelineno-6-15" name="__codelineno-6-15" href="#__codelineno-6-15"></a>    <span class="n">parameters</span><span class="o">=</span><span class="p">[{</span><span class="s1">&#39;robot_description&#39;</span><span class="p">:</span> <span class="n">urdf</span><span class="p">}],</span>
 </span><span id="__span-6-16"><a id="__codelineno-6-16" name="__codelineno-6-16" href="#__codelineno-6-16"></a><span class="p">)</span>
 </span></code></pre></div>
+<h2 id="debugging-a-node-in-gdb">Debugging a Node in GDB</h2>
+<p>If you are using a computer with a graphical system, it's pretty
+easy to have gdb launch in a new terminal, by adding the following:</p>
+<div class="highlight"><pre><span></span><code><span id="__span-7-1"><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a><span class="n">Node</span><span class="p">(</span>
+</span><span id="__span-7-2"><a id="__codelineno-7-2" name="__codelineno-7-2" href="#__codelineno-7-2"></a>    <span class="c1"># Configure the node as above</span>
+</span><span id="__span-7-3"><a id="__codelineno-7-3" name="__codelineno-7-3" href="#__codelineno-7-3"></a>    <span class="c1"># Add a prefix so the node is started in GDB in a new xterm</span>
+</span><span id="__span-7-4"><a id="__codelineno-7-4" name="__codelineno-7-4" href="#__codelineno-7-4"></a>    <span class="n">prefix</span><span class="o">=</span><span class="p">[</span><span class="s1">&#39;xterm -e gdb --args&#39;</span><span class="p">],</span>
+</span><span id="__span-7-5"><a id="__codelineno-7-5" name="__codelineno-7-5" href="#__codelineno-7-5"></a><span class="p">)</span>
+</span></code></pre></div>
+<p>However, many robots lack a graphical system. In this case,
+you can launch GDB in a server configuration:</p>
+<div class="highlight"><pre><span></span><code><span id="__span-8-1"><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a><span class="n">Node</span><span class="p">(</span>
+</span><span id="__span-8-2"><a id="__codelineno-8-2" name="__codelineno-8-2" href="#__codelineno-8-2"></a>    <span class="c1"># Configure the node as above</span>
+</span><span id="__span-8-3"><a id="__codelineno-8-3" name="__codelineno-8-3" href="#__codelineno-8-3"></a>    <span class="c1"># Add a prefix so the node is started in a gdbserver</span>
+</span><span id="__span-8-4"><a id="__codelineno-8-4" name="__codelineno-8-4" href="#__codelineno-8-4"></a>    <span class="n">prefix</span><span class="o">=</span><span class="p">[</span><span class="s1">&#39;gdbserver localhost:2345&#39;</span><span class="p">],</span>
+</span><span id="__span-8-5"><a id="__codelineno-8-5" name="__codelineno-8-5" href="#__codelineno-8-5"></a><span class="p">)</span>
+</span></code></pre></div>
+<p>Then, in a separate terminal you can connect to the target, and start
+the node by running <code>continue</code>:</p>
+<div class="highlight"><pre><span></span><code><span id="__span-9-1"><a id="__codelineno-9-1" name="__codelineno-9-1" href="#__codelineno-9-1"></a>$&gt; gdb
+</span><span id="__span-9-2"><a id="__codelineno-9-2" name="__codelineno-9-2" href="#__codelineno-9-2"></a>(gdb) target remote localhost:2345
+</span><span id="__span-9-3"><a id="__codelineno-9-3" name="__codelineno-9-3" href="#__codelineno-9-3"></a>(gdb) continue
+</span></code></pre></div>
 <h2 id="installing-launch-files">Installing Launch Files</h2>
 <ul>
 <li><a href="https://docs.ros.org/en/rolling/Tutorials/Intermediate/Launch/Launch-system.html#creating-the-structure-to-hold-launch-files">Launch System Tutorial</a></li>