ubuntu18 vscode ros 配置

ubuntu18.04 下ros melodic vscode配置開發環境記錄

首先准備可以用命令行編譯通過的ros工作空間及其相應節點並配置好txt文件等。注意不要用vscode 下的create catikn package創建功能包，否則編譯出來好像沒有可執行文件或者可執行文件多了個.pc的后綴，可能我創建的時候有問題，但不管了，用命令行創建就好了。

vscode 插件選擇如下 （第一個 ROS 0.6.6）

 

1)在ros工作空間下第一級目錄下啟動輸入 啟動scode.

code .

2)選擇Terminal->configue default build Task打開task.json文件

task.json內容要配置為如下： 

{
    "version": "2.0.0",
    "tasks": [
        {
            "type": "shell",
            "command": "catkin_make -DCMAKE_BUILD_TYPE=Debug",
            "problemMatcher": [
                "$catkin-gcc"
            ],
            "group": "build",
            "label": "build",
            "detail": "compiler :  /usr/bin/g++"
        },
    ]
}

c_cpp_properties.json

"cppStandard": "c++17"配置的正確與否直接決定C++ intelligence的代碼自動補全功能是否有效

"includePath" 里面包含頭文件路徑

{
  "configurations": [
    {
      "browse": {
        "databaseFilename": "",
        "limitSymbolsToIncludedHeaders": true
      },
      "includePath": [
        "/opt/ros/melodic/include/**",
        "/usr/include/**"
      ],
      "name": "ROS",
      "intelliSenseMode": "gcc-x64",
      "compilerPath": "/usr/bin/gcc",
      "cStandard": "gnu11",
      "cppStandard": "c++17"
    }
  ],
  "version": 4
}

ctrl+shift+P: Task Run Build Task編譯

 

調試：debug選項下create a launch.json file(c++ GDB 調試）注意創建launch.json file文件之后要檢查下你之前配置的tasks.json文件有沒有被ide修改了，修改了就改回來。

launch.json改為如下,主要制定兩個：

"program" ：自己工作空間下workspace/devel/lib/節點名/可執行文件

"preLaunchTask":要填成跟tasks.json文件中“label"標簽一樣的內容。其實直接把這個標簽刪除也可以。

{
    // 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": "g++ - 生成和調試活動文件",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/devel/lib/myros/myros_node",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "為 gdb 啟用整齊打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "build",
            "miDebuggerPath": "/usr/bin/gdb"
        }
    ]
}

后面在要調試的cpp文件里面打斷點，在debug選項卡下點擊run and Debug就可以開始調試了。