WEBVTT 00:00.200 --> 00:07.480 All the code we will develop in this course is available on GitHub using the link provided in the resources 00:07.480 --> 00:08.400 of this lesson. 00:09.080 --> 00:13.280 As you can see, this repository is organized by section. 00:13.280 --> 00:20.640 So here and here you will always have access to the most up to date, functional and tested version 00:20.680 --> 00:25.480 of all the nodes and features that we are going to develop in this course. 00:26.040 --> 00:32.360 You can use this material as a starting point to follow the laboratory lessons, and also as a template 00:32.400 --> 00:33.720 to develop new features. 00:34.200 --> 00:39.280 For instance, let's say that you are in the section three and that you are following the laboratory 00:39.280 --> 00:44.720 lesson in which we create for the Python the simple publisher. 00:44.720 --> 00:46.080 So this one here. 00:46.080 --> 00:48.720 So let's say that you are developing this node here. 00:48.960 --> 00:53.840 So if you want you can simply copy paste all this code here in your workspace. 00:54.120 --> 00:59.960 Also that in the laboratory lesson you can just focus on the explanation of all these lines of code 01:00.080 --> 01:04.520 here, instead of rushing for copying all the code that I'm going to type. 01:04.880 --> 01:11.840 Otherwise, if you prefer to rewrite the code from the laboratory lesson yourself, you can use this 01:11.840 --> 01:12.480 material. 01:12.480 --> 01:15.840 So you can use all the code that you find here on GitHub. 01:16.000 --> 01:21.920 In order to check for any bugs or typos that can occur in your code. 01:22.400 --> 01:24.600 Let me show you how you can do this. 01:25.080 --> 01:31.640 For example, let's go to Visual Studio Code and let's say that you are writing for the Arduino Bot 01:31.680 --> 01:33.200 Pi examples packages. 01:33.760 --> 01:38.520 So let's say that you are developing this one here the simple subscriber node. 01:38.840 --> 01:43.600 So let's say that you have followed the laboratory lesson and that you have typed all this code here 01:43.600 --> 01:45.720 in order to implement this node here. 01:46.120 --> 01:48.680 And so then you try to execute it. 01:49.040 --> 01:51.400 So let's say that you open a terminal. 01:51.440 --> 01:52.760 You go to the workspace. 01:53.400 --> 01:57.880 So to the Arduino bot workspace you build it with Qualcomm build. 01:58.440 --> 02:04.910 And then once the build is completed in a new window of the terminal, you source it and then you run 02:04.950 --> 02:05.870 this node here. 02:05.870 --> 02:12.950 So the simple subscriber with Ros to run and from the Arduino boot Pi examples. 02:12.950 --> 02:17.190 So you start the simple subscriber node. 02:17.190 --> 02:18.710 So you press enter. 02:19.070 --> 02:20.430 And this one here. 02:20.430 --> 02:22.910 So the node is crashing. 02:22.910 --> 02:28.350 So it throws an error even though everything works perfectly in the course lesson. 02:28.710 --> 02:29.750 Classic right. 02:29.910 --> 02:33.790 It always runs smoothly in the video but never on your PC. 02:34.110 --> 02:36.950 I know the feeling in this case. 02:37.150 --> 02:43.470 As a first step, I recommend you carefully reading the error that is printed in the terminal, and 02:43.470 --> 02:47.030 this is normally going to highlight you the error. 02:47.030 --> 02:52.470 And also it's going to provide you some useful insights on which will be the line that is affected by 02:52.470 --> 02:54.150 the error in your code. 02:54.750 --> 03:01.910 While debugging can be challenging and even frustrating, it is an invaluable part of the learning process. 03:02.230 --> 03:08.150 It encourages you to understand each line of code more deeply, and this is a skill that you will rely 03:08.150 --> 03:10.950 on in all your robotics projects. 03:11.550 --> 03:15.390 You can also start by searching this error here. 03:15.390 --> 03:16.870 So this is the error message. 03:17.110 --> 03:20.230 We can start by searching this one on Google for example. 03:20.670 --> 03:24.630 So we can go here and we can paste the error that we are getting. 03:24.750 --> 03:25.470 And here. 03:25.750 --> 03:31.790 So as we can see this not only can help you to find a solution to the problem that you are having, 03:31.790 --> 03:38.350 but also it can introduce you to a lot of forums and communities where robotic software developers can 03:38.350 --> 03:41.750 collaborate and can share solutions to their problems. 03:42.070 --> 03:44.030 For example, we have StackOverflow. 03:44.070 --> 03:45.630 We have answers. 03:45.630 --> 03:46.630 So the heroes wiki. 03:47.070 --> 03:50.230 Then we have this one here Robotic Stack Exchange. 03:50.430 --> 03:57.950 So all of these are invaluable examples of communities where developers of all levels and backgrounds 03:57.950 --> 04:03.590 Grounds can collaborate to solve problems if this step doesn't solve your issue. 04:03.630 --> 04:05.950 You can also try using ChatGPT. 04:06.470 --> 04:12.910 So here, try to be as descriptive as possible with your problem, and also try to include all the relevant 04:12.910 --> 04:18.630 details, including, for example, code snippets and also the errors that you are having in your terminal. 04:19.230 --> 04:22.790 For example, let's copy all the code that is throwing the error. 04:23.550 --> 04:24.390 Let's say. 04:25.470 --> 04:27.990 So let's ask this code. 04:28.230 --> 04:35.030 Then let's paste all the code and let's say is causing this issue. 04:35.470 --> 04:37.630 And then let's simply paste. 04:37.670 --> 04:40.390 So let's copy paste the error message. 04:40.390 --> 04:44.190 So this one here let's copy it and let's paste it here. 04:44.710 --> 04:46.630 So let's try asking it. 04:46.630 --> 04:53.670 And normally this tool is incredible because not only it will solve your problem in seconds, but also 04:53.750 --> 04:59.780 will provide you with an accurate explanation of the issue that you are facing, why it occurred, and 04:59.780 --> 05:03.020 this will further enhance your understanding of the topic. 05:03.940 --> 05:05.340 If you are still stuck. 05:05.780 --> 05:11.580 Let me show you another debugging strategy that is one of comparing your code. 05:11.740 --> 05:14.580 So the one that you are developing here in Visual Studio Code. 05:14.580 --> 05:16.940 So in your Arduino board workspace. 05:17.300 --> 05:20.140 So to compare this one with this one here. 05:20.140 --> 05:24.500 So with the one that I developed and that I uploaded here on GitHub. 05:24.980 --> 05:29.180 Now in order to do so the first thing that we need to do is to download this code here. 05:29.180 --> 05:34.700 So to download all these folders so we can use this button here in order to clone. 05:35.100 --> 05:37.220 So we can copy this link here. 05:37.620 --> 05:39.500 And then we can open a terminal. 05:40.660 --> 05:41.380 Here we go. 05:41.620 --> 05:44.300 And so here we can use the command git clone. 05:44.540 --> 05:47.020 And let's paste the link that we have just copied. 05:47.300 --> 05:52.940 So basically this command here now is downloading all the code that I uploaded here. 05:52.940 --> 05:56.820 So all of this code it is downloading it in your PC. 05:57.620 --> 06:03.020 So now we can see here that this one is the folder that I uploaded here. 06:03.020 --> 06:06.580 And that contains all the code for all these actions of the course. 06:06.940 --> 06:09.580 Now what we want to do is to compare your code. 06:09.580 --> 06:13.860 So the one that you are developing here in the Arduino workspace with my code. 06:13.860 --> 06:15.620 So the one that I uploaded here. 06:16.220 --> 06:19.780 To do so we can use the amazing tool that is git. 06:20.300 --> 06:23.020 So we can go to your workspace. 06:23.180 --> 06:27.220 Go to the Arduino bot workspace in which you have the error or the typo. 06:27.580 --> 06:30.980 And here we can use the command git init. 06:30.980 --> 06:34.140 So this will initialize this repository here. 06:34.140 --> 06:36.620 So this folder as a git repository. 06:36.900 --> 06:43.540 Then we can use git add dot in order to add all the files that are here. 06:43.540 --> 06:47.060 So all the code that you develop in the Arduino workspace. 06:47.060 --> 06:49.300 So this will be added to git. 06:49.340 --> 06:50.060 Perfect. 06:50.060 --> 06:51.380 And now we can save. 06:51.380 --> 06:52.820 So we can create a checkpoint. 06:52.820 --> 06:56.060 We can create a commit for this code here. 06:56.060 --> 07:01.420 So for the code that we have developed so far in this code here, because then we want to compare this 07:01.420 --> 07:02.020 checkpoint. 07:02.020 --> 07:04.860 So we want to compare your code with my code. 07:04.860 --> 07:07.500 So with this one here that we have just downloaded. 07:08.020 --> 07:10.620 So we can create a commit with git commit. 07:11.060 --> 07:15.860 And for example let's call it checkpoint perfect. 07:15.860 --> 07:19.180 So we are adding all the code that is in your workspace. 07:19.180 --> 07:25.100 So we are adding all of these to the checkpoint so that now we can compare this checkpoint with this 07:25.100 --> 07:25.860 code here. 07:26.260 --> 07:31.820 And in order to do so is as simple as opening this folder here. 07:31.820 --> 07:36.980 So this folder that we have just downloaded and that contains all the code that I uploaded on GitHub. 07:37.220 --> 07:38.660 So let's open it here. 07:38.660 --> 07:40.940 Let's go to the section that you are following. 07:41.020 --> 07:43.460 Let's say that you are following the section number three. 07:44.140 --> 07:45.580 So here you can see this one. 07:45.580 --> 07:50.060 Here is the workspace that you will have at the end of this section number three. 07:50.060 --> 07:55.530 So let's open it then let's go to the source folder and let's copy all the packages that are here in 07:55.530 --> 07:56.450 the source folder. 07:56.650 --> 08:00.210 So let's copy it and then we can paste them in your workspace. 08:00.570 --> 08:01.730 So we can go here. 08:02.010 --> 08:03.570 Then we can go to the source folder. 08:03.570 --> 08:05.730 Here we can remove your packages. 08:05.890 --> 08:09.610 And simply we can paste the packages that I'm using here. 08:09.770 --> 08:11.610 This is not only copy pasting. 08:11.610 --> 08:16.010 So this is not just copy pasting my code into your workspace. 08:16.250 --> 08:18.130 But as we have used git. 08:18.570 --> 08:24.690 So if we go back to Visual Studio Code, the fact that we used git is very useful because now if we 08:24.690 --> 08:26.610 go here, go to the source control. 08:26.770 --> 08:28.730 And if we open this one here. 08:28.730 --> 08:35.650 So here we can see all the changes between my code and your code which we added to the checkpoint. 08:35.650 --> 08:38.330 So which we added here to this checkpoint here. 08:38.330 --> 08:42.730 And so this is going to highlight all the changes between my code. 08:42.730 --> 08:48.690 So the one that I uploaded on GitHub and your code and most likely this is also going to highlight as 08:48.690 --> 08:49.570 you can see here. 08:49.570 --> 08:54.490 So this is going to highlight any typo or bug in your code.