基于VScode调试ROS2功能包
1.安装ROS的vscode插件
2.创建功能包并用vscode插件方式编译
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| $ cd ~
$ mkdir -p ros2_ws/src
$ cd ros2_ws/src
$ ros2 pkg create cpp__pubsub --build-type ament_cmake --dependencies rclcpp std_msgs
$ cd ~/ros2_ws
$ code .
|
3.配置task.json
通过vscode配置 task.json，task.json将位于ros2_ws/.vscode/，快捷键Ctrl+Shift+B编译功能包或者点击Terminal-> Run Build Task.
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| {
"version": "2.0.0",
"tasks": [
{
"type": "colcon",
"args": [
"build",
"--symlink-install",
"--event-handlers",
"console_cohesion+",
"--base-paths",
"/home/linux/learn_ros2_ws",
"--cmake-args",
"-DCMAKE_BUILD_TYPE=RelWithDebInfo"
],
"problemMatcher": [
"$catkin-gcc"
],
"group": "build",
"label": "colcon: build"
}
]
}
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4.配置launch.json
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| {
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"name": "(gdb) Launch",
"type": "cppdbg",
"request": "launch",
"program": "${workspaceFolder}/install/${input:package_name}/lib/${input:package_name}/${input:package_executable}",
"args": [],
"stopAtEntry": false,
"cwd": "${workspaceFolder}",
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
},
// {
// "description": "Set Disassembly Flavor to Intel",
// "text": "-gdb-set disassembly-flavor intel",
// "ignoreFailures": true
// }
]
}
],
"inputs": [
{
"id": "package_name",
"type": "promptString",
"description": "ros2 package name",
"default": "cpp_primer_pubsub"
},
{
"id": "package_executable",
"type": "promptString",
"description": "ros2 package executable",
"default": "talker"
}
]
}
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其中
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| "program": "${workspaceFolder}/install/${input:package_name}/lib/${input:package_name}/${input:package_executable}",
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“program”为节点路径，如果自动填充出现问题启动不了节点，可以手动填入节点的绝对路径
5.source
在VScode的TERMINAL下cd 到工作空间并source
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| source install/setup.bash
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6.开始调试
按快捷键F5开始调试