使用qt开发ROS程序，并能够用debugging

1，安装qt的Qt Creator Plug-in 插件。（学会新建ROS工程、RUN配置等）

2，Setup Ubuntu to allow debugging/ptrace    （网址https://ros-qtc-plugin.readthedocs.io/en/latest/_source/Setup-Qt-Creator-for-ROS.html#setup-ubuntu-to-allow-debugging-ptrace）

      a,Open file: sudo gedit /etc/sysctl.d/10-ptrace.conf

  b,Change the value of kernel.yama.ptrace_scope to 0

      c,Reload the kernel configuration with    "sudo systemctl restart procps.service"

3,Attach to a unstarted process （https://ros-qtc-plugin.readthedocs.io/en/latest/_source/Debugging-Catkin-Workspace.html）

1. Next in Qt Creator browse to the file you wish to debug and insert break points.
2. Menu Bar > Debug > Start Debugging > Attach to Unstarted Application...
3. Browse to the executable then select Start Watching.  (可执行文件在devel/lib下)
4. Now run your project. Ctrl + R （在QT中添加一个ROS RUN STEP）
5. Now depending on where the breakpoints were placed in qt, it should be stopped at a break point when it reaches one.