vscode 实现ROS2 Node调试
准备工作可以参考网上各种文章
(1)vscode 各种相关的插件 C/C++ Microsoft cmake ros(Microsoft 出的ros插件 ros1 ros2都适用)
(2)python3 环境以及 colcon 相关的工具
pip install -U colcon-common-extensions
.vscode 相关文件
以地平线 togetherOS mono2d_body_detection 模块为例
目录树结构为
(1)c_cpp_properties.json 可以按F1选择 “C/C++ Edit configuration”自动生成,主要是配置includePath 让头文件能找到路径,示例如下
{
"configurations": [
{
"browse": {
"databaseFilename": "${default}",
"limitSymbolsToIncludedHeaders": false
},
"includePath": [
"${workspaceFolder}/**",
"/opt/tros/include/**",
"/usr/include/**"
],
"name": "ROS",
"intelliSenseMode": "gcc-arm64",
"cStandard": "gnu11",
"cppStandard": "c++14"
}
],
"version": 4
}
(2)tasks.json 示例如下
{
// 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": "colcon:build", //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": "colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug", //这个是我们需要运行的命令
"args": [], //如果需要在命令后面加一些后缀,可以写在这里
"group": { "kind": "build", "isDefault": true },
"presentation": {
"reveal": "always" //可选always或者silence,代表是否输出信息
},
"problemMatcher": "$msCompile"
}
]
}
如果需要断点调试,需要使用 -DCMAKE_BUILD_TYPE=Debug 生成调试信息
(3)settings.json
{
"python.autoComplete.extraPaths": [
"/opt/tros/lib/python3.8/site-packages"
],
"python.analysis.extraPaths": ["/opt/tros/lib/python3.8/site-packages"],
"files.associations": {
"cctype": "cpp",
"clocale": "cpp",
"cmath": "cpp",
"csignal": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"array": "cpp",
"atomic": "cpp",
"strstream": "cpp",
"bit": "cpp",
"*.tcc": "cpp",
"bitset": "cpp",
"chrono": "cpp",
"complex": "cpp",
"condition_variable": "cpp",
"cstdint": "cpp",
"deque": "cpp",
"list": "cpp",
"map": "cpp",
"set": "cpp",
"unordered_map": "cpp",
"vector": "cpp",
"exception": "cpp",
"algorithm": "cpp",
"functional": "cpp",
"iterator": "cpp",
"memory": "cpp",
"memory_resource": "cpp",
"numeric": "cpp",
"optional": "cpp",
"random": "cpp",
"ratio": "cpp",
"string": "cpp",
"string_view": "cpp",
"system_error": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"utility": "cpp",
"fstream": "cpp",
"future": "cpp",
"initializer_list": "cpp",
"iomanip": "cpp",
"iosfwd": "cpp",
"iostream": "cpp",
"istream": "cpp",
"limits": "cpp",
"mutex": "cpp",
"new": "cpp",
"ostream": "cpp",
"shared_mutex": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"streambuf": "cpp",
"thread": "cpp",
"cfenv": "cpp",
"cinttypes": "cpp",
"typeindex": "cpp",
"typeinfo": "cpp",
"variant": "cpp"
},
"ros.rosSetupScript": "${workspaceFolder}/install/setup.bash"
}
(4)launch.json ,我推荐使用 attach的方法。这样既可以调试单个node,也可以在launch多个节点时使用
{
// 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: Attach",
"type": "ros",
"request": "attach"
}
// {
// "name":"ROS2:Mono2d_body_detection",
// "request": "launch",
// "target": "${workspaceFolder}/install/mono2d_body_detection/share/mono2d_body_detection/launch/mono2d_body_detection.launch.py",
// "type":"ros"
// }
]
}
注释的内容是使用 launch启动多个节点
参考链接:在vscode中单步调试ros2
编译工程
build快捷键:Ctrl+shift + B
确定编译无误后下一步启动 节点
启动节点
(1)切换目录到当前工作目录下
cd /home/sunrise/mono2d_body_detection-develop
(2)运行环境设置脚本,使用工作目录中的节点
source ./install/local_setup.bash
(3)启动节点
ros2 run mono2d_body_detection mono2d_body_detection
attach 进程
(1)点击左侧菜单栏中的 “Run and Debug” 菜单
(2)点击 "Attach"左边的箭头
(3)右上方弹出 “Choose runtime type of node to attach to .”,选择 C++ 或者 python,根据实际情
(4) 在 “Attach Process” 列表中选中 运行Node的进程,可以透过输入关键字筛选
最终可以在 cpp 中断点调试。
Attach 调试 提示ptrace 权限问题解决办法
开启Attach调试
1.
sudo gedit /etc/sysctl.d/10-ptrace.conf
2.找到下面这一行:(一般在文件最后一行)
kernel.yama.ptrace_scope = 1
3.修改如下:
kernel.yama.ptrace_scope = 0
4.然后重启电脑: