ROS Programming: Building Powerful Robots

Profiling a node with valgrind while launching ROS

Additionally, we can use the same attribute to attach the node to diagnosis tools. For example, we can run our program through valgrind (see http://valgrind.org for further information) to detect memory leaks using memcheck and perform profiling analysis using callgrind. Contrary to attaching to gdb, we do not need to start xterm:

<launch> 
  <node pkg="chapter3_tutorials" type="example1" 
  name="example1" output="screen" 
  launch-prefix="valgrind"/> 
</launch>