Universal Robots Forum

Remote debugging of URCaps

Hi,

I want to debug remotely my URCaps code from my eclipse IDE by connecting to the JVM running in URSim.

starturcontrol.sh invokes the binary executable URControl. I dont have any option to set the JVM debug parameters.

Can you please let me know if there any other option to mention the JVM debug parameters like “-Xdebug Xrunjdwp:transport=dt_socket,server=y,suspend=n,address=9999”?

So that I can debug my code.

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Hi,

I found the way to set the debug parameters to Simulator JVM.

Here is the step.

  1. Open the file start-ursim.sh present in the directory /home/ur/ursim-current.
  2. Go to the line

HOME=$URSIM_ROOT -Duser.home=$URSIM_ROOT -Dconfig.path=$URSIM_ROOT/.urcontrol -Djava.library.path=/usr/lib/jni -jar bin/*.jar

  1. update it like (where XXXX is a port number)

HOME=$URSIM_ROOT java -Xdebug -Xrunjdwp:transport=dt_socket,server=y,suspend=n,address=XXXX -Duser.home=$URSIM_ROOT -Dconfig.path=$URSIM_ROOT/.urcontrol -Djava.library.path=/usr/lib/jni -jar bin/*.jar

  1. Save it.

  2. restart the polyscope.

Now, you can connect from eclipse and debug your code.

Thanks,
Sankar

10 Likes