docs: add simple guidance for locating died process with gdb tool (#420)

* docs: add simple guidance to locate died process with gdb tool Signed-off-by: Tier4Guan <[email protected]> * docs: fix typos Signed-off-by: Tier4Guan <[email protected]> --------- Signed-off-by: Tier4Guan <[email protected]>
autowarefoundation · Dec 29, 2023 · 1cfd744 · 1cfd744
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diff --git a/docs/support/troubleshooting/index.md b/docs/support/troubleshooting/index.md
@@ -195,3 +195,41 @@ If you have any of these symptoms, please the [Performance Troubleshooting](perf
 When running the Planning Simulator, the most common reason for the map not being displayed in RViz is because [the map path has not been specified correctly in the launch command](../../tutorials/ad-hoc-simulation/planning-simulation.md#how-to-run-a-planning-simulation). You can confirm if this is the case by searching for `Could not find lanelet map under {path-to-map-dir}/lanelet2_map.osm` errors in the log.
 
 Another possible reason is that map loading is taking a long time due to poor DDS performance. For this, please visit the [Performance Troubleshooting](performance-troubleshooting.md) page.
+
+### Died process issues
+
+Some modules may not be launched properly at runtime, and you may see "process has died" in your terminal.
+You can use the gdb tool to locate where the problem is occurring.
+
+Debug build the module you wish to analyze under your autoware workspace
+
+```bash
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug --packages-up-to <the modules you wish to analyze> --catkin-skip-building-tests --symlink-install
+```
+
+In this state, when a died process occurs when you run the autoware again, a core file will be created.
+Remeber to remove the size limit of the core file.
+
+```bash
+ulimit -c unlimited
+```
+
+Rename the core file as `core.<PID>`.
+
+```bash
+echo core | sudo tee /proc/sys/kernel/core_pattern
+echo -n 1 | sudo tee /proc/sys/kernel/core_uses_pid
+```
+
+Launch the autoware again. When a died process occurs, a core file will be created.
+`ll -ht` helps you to check if it was created.
+
+Invoke gdb tool.
+
+```bash
+gdb <executable file> <core file>
+#You can find the `<executable file>` in the error message.
+```
+
+`bt` backtraces the stack of callbacks where a process dies.
+`f <frame number>` shows you the detail of a frame, and `l` shows you the code.