building with backward ros

[jlack1987]

Feature request

Feature description

We(nauticus robotics) have gotten in the habit of using backward_ros when building our packages because it gives us a nice console trace when one of our nodes crash. In order to reduce the number of domain participants to improve DDS performance we have started combining nodes in composable node containers, but the composable node containers aren't built with backward ros so we lose the traces should something segfault which is really detrimental to finding/fixing those crash cases. Just curious if there's any way we could compile rclcpp with backward ros or some perhaps incorporating what backward ros does directly as I understand if adding an external dependency on backward_ros isn't desired for core packages like rclcpp.

[mjcarroll]

I think that this is a reasonable feature request. It is very helpful to get tracebacks, especially when you have multiple nodes in flight in the same container. I think that we should probably make it an optional flag that you can turn on during build time (and probably make it opt-in, rather than opt-out).

I know that we already vendor backward.hpp inside of osrf_testing_tools_cpp: https://github.com/osrf/osrf_testing_tools_cpp/tree/rolling/osrf_testing_tools_cpp/src/memory_tools/vendor/bombela/backward-cpp

Maybe the best approach is to create a single vendor package that everyone can depend on?