ROS中用到第三方库，在编译第三方库的时候，加上 -g 选项，以供调用该库时调试。

在编译ROS包的时候，使用如下命令编译：

catkin_make -DCMAKE_BUILD_TYPE=Debug  

1、打开roscore 

$  roscore

2、用valgrind打开程序

$ valgrind --tool=memcheck --leak-check=yes --log-file=valgrind.log ./devel/lib/package_foo/executable_bar

you will not get useful memory stats. I believe this is due to rosrun spawning your node in a separate process. To get around this, you can call your executable directly: 

$ valgrind --tool=memcheck --leak-check=yes --log-file=valgrind.log rosrun package_foo executable_bar,

Alternatively, you could write your own launchfile with Valgrind in the launch-prefix.