> ## Documentation Index
> Fetch the complete documentation index at: https://docs.innate.bot/llms.txt
> Use this file to discover all available pages before exploring further.

# Debugging

When something misbehaves, SSH into MARS and work through the layers: overall status → hardware → logs → skills → raw ROS2. The `innate` CLI covers the first four without touching ROS2 directly.

<Tip>
  Prefer the browser? The web app's [**Debugging** page](/robots/web-app/debugging) shows the robot's entire console — every node and process, structured, filterable, and live — with **no SSH**, and it's a complete superset of `/rosout`. Reach for this terminal guide when you need the CLI, tmux, or raw ROS 2 tools.
</Tip>

## 1) Get the lay of the land

```bash theme={null}
innate
```

Running `innate` with no arguments prints the status dashboard: OS version, mode, ROS/DDS status, and a quick command reference. Start here — it often answers "is the stack even running?" immediately.

## 2) Check the hardware

```bash theme={null}
innate diag
```

Runs hardware diagnostics across servos, PCB, lidar, cameras, and speaker. If a component fails here, no amount of software debugging will help — fix the hardware issue first (see [Troubleshooting](/robots/mars/troubleshooting)).

## 3) Read the logs

```bash theme={null}
innate view        # shortcut for: innate service view
```

Attaches to the tmux session where every ROS node runs, one pane per node. Look for red error text, stack traces, or panes stuck in a restart loop.

| Keys                    | Action                                       |
| ----------------------- | -------------------------------------------- |
| `Ctrl+B` then `0`–`6`   | Switch to a window                           |
| `Ctrl+B` then `←` / `→` | Switch between panes                         |
| `Ctrl+B` then `Z`       | Zoom a pane to full screen (again to unzoom) |
| `Ctrl+B` then `[`       | Scroll mode (`q` to exit)                    |
| `Ctrl+B` then `D`       | Detach (nodes keep running)                  |

## 4) Test skills in isolation

When an agent misbehaves, bypass it and trigger the skill directly:

```bash theme={null}
innate skill list                                    # what's loaded right now
innate skill type innate-os/arm_utils                # show a skill's input contract
innate skill run innate-os/arm_utils @command=torque_on
```

If the skill works when run directly, the problem is in the agent (prompt, skill list, inputs) — not the skill.

## 5) Drop down to ROS2

For anything the CLI doesn't surface, use the ROS2 CLI directly:

```bash theme={null}
ros2 node list
ros2 topic list
ros2 topic echo /battery_state
ros2 service list
ros2 doctor
```

See [Topics](/software/ros2/topics), [Services](/software/ros2/services), and [Actions](/software/ros2/actions) for the full interface reference.

## 6) Restart and rebuild

```bash theme={null}
innate restart     # restart all ROS nodes (shortcut for: innate service restart)
innate build       # stop nodes, rebuild the workspace, restart nodes
```

`innate build` is smart: if nodes aren't running it just builds, and if the build fails it leaves nodes stopped rather than restarting a broken stack.

***

For every command and flag, see the [Innate CLI Reference](/software/innate-cli). For hardware/runtime issue patterns, see [Troubleshooting](/robots/mars/troubleshooting). For visualization workflows (RViz and Foxglove Bridge), see [ROS2 Overview](/software/ros2-core#visualization).