基于VScode调试ROS2功能包

1.安装ROS的vscode插件

ROS
EBNF

2.创建功能包并用vscode插件方式编译

$ 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 .

SHELL

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.

{
	"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"
		}
	]
}
PROLOG

4.配置launch.json

{
  // 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"
    }
  ]
}
AWK

其中

"program": "${workspaceFolder}/install/${input:package_name}/lib/${input:package_name}/${input:package_executable}",
BASH

“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

cd ros2_ws
BASH

source install/setup.bash
BASH

6.开始调试

按快捷键F5开始调试