vscode调试ros工程

通过launch文件启动，并且加断点调试。

1.插件安装

• ROS
• c++ Intellisense 和c/c++
• Txt Syntax
• Msg Language Sopport

2.导入工作空间

用vscode打开相应的工程

3.环境配置

需要配置三个文件

• task.json配置，用于ctrl+shift+b编译

{
    // 有关 tasks.json 格式的文档，请参见
        // https://go.microsoft.com/fwlink/?LinkId=733558
        "version": "2.0.0",
        "tasks": [
            {
                "label": "catkin_make:debug", //代表提示的描述性信息
                "type": "shell",  //可以选择shell或者process,如果是shell代码是在shell里面运行一个命令，如果是process代表作为一个进程来运行
                "command": "catkin_make",//这个是我们需要运行的命令
                "args": ["-DCMAKE_BUILD_TYPE=RelWithDebInfo","-j8"],//如果需要在命令后面加一些后缀，可以写在这里，比如-DCATKIN_WHITELIST_PACKAGES=“pac1;pac2”
                "group": {"kind":"build","isDefault":true},
                "presentation": {
                    "reveal": "always"//可选always或者silence，代表是否输出信息
                },
                "problemMatcher": "$msCompile"
            }
        ]
    }
    

• c_cpp_properties.json配置

{
    "configurations": [
        {
            "name": "ROS",
            "includePath": [
                "${workspaceFolder}/**",
                "/opt/ros/melodic/include/**",
                "/usr/include/**",
                "/home/gao/.../include/**",
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "gnu11",
            "cppStandard": "gnu++14",
            "intelliSenseMode": "linux-gcc-x64",
            "compileCommands": "${workspaceFolder}/build/compile_commands.json"
        }
    ],
    "version": 4
}

• launch.json配置

{
    // Use IntelliSense to learn about possible attributes.
    // Hover to view descriptions of existing attributes.
    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "name": "ROS: Launch",
            "request": "launch",
            "target": "/home/gao/catkin_hy_ws/../launch/test.launch",
            "type": "ros"
        }
    ]
}

关于代码智能提示：

• 执行一下命令，在build中生成compile_commands.json

catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=Yes

• 添加c_cpp_properties.json文件中：

"compileCommands": "${workspaceFolder}/build/compile_commands.json"

4.开始调试

添加环境变量：

source devel/setup.bash

vscode右侧工具栏Run and Debug，ROS:Launch，开始调试

有时候会报错，可以重启ROS插件试试。