ROS设置VSCode的debug方法

编写VSCode的.vscode中的各类文件

vscode下载插件：

Bracket Pair Color DLW
Cmake tools
ROS

讲解参考b站视频

连接在此

c_cpp_properties.json

{
    "configurations": [
        {
            "browse": {
                "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db",
                "limitSymbolsToIncludedHeaders": true
            },
            "includePath": [
                "${workspaceFolder}/**",
                "/usr/include/**",
                "/usr/local/include/**",
                "/opt/ros/melodic/include/**"


            ],
            "name": "ROS",
            "intelliSenseMode": "gcc-x64",
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "gnu11",
            "cppStandard": "c++14"

        }
    ],
    "version": 4
}

launch.json

{
    // 使用 IntelliSense 了解相关属性。 
    // 悬停以查看现有属性的描述。
    // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [

        {
            "name": "ROS: Launch",
            "request": "launch",
            "target": "/home/ros/catkin_ws/src/mobile_car/launch/ndt_mapping.launch",
            "launch": [
                "rviz",
                "gz",
                "gzclient",
                "gzserver"
            ],
            "type": "ros"
        }
    ]
}

settings.json

ctrl+shift+p
输入：error squiggles
设置错误波形曲线显示与否
“C_Cpp.errorSquiggles”:“Disabled”
这一句就是不显示错误波形曲线

{
	
	"C_Cpp.errorSquiggles":"Disabled",
    "files.associations": {
        "fstream": "cpp",
        "sstream": "cpp",
        "iostream": "cpp",
        "string": "cpp"
    },
    "python.autoComplete.extraPaths":[
        "/opt/ros/medlodic/lib/python2.7/dist-packages"
    ],
    "python.analysis.extraPaths": [
        "/home/ros/catkin_ws/devel/lib/python2.7/dist-packages",
        "/opt/ros/melodic/lib/python2.7/dist-packages"
    ]
}

tasks.json

vscode快捷键编译：ctrl+shift+b
这里设置默认不用询问

不启动vscode自动编译工程的设置
ctrl+逗号 进入设置界面输入:
cmake:config
将Cmake:Configure On Edit勾点掉
将Cmake:Configure On Open勾点掉

{
	"version": "2.0.0",
	"tasks": [
		{
			"type": "catkin_make",
			"args": [
				"--directory",
				"/home/xtark/catkin_ws",
				"-DCMAKE_BUILD_TYPE=RelWithDebInfo"
			],
			"problemMatcher": [
				"$catkin-gcc"
			],
			"group": {"kind":"build","isDefault": true},
			"label": "catkin_make: build"
		}
	] 
}