ros vscode配置gdb调试

哈利马其

于 2024-08-01 11:36:40 发布

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文章标签： vscode ros gdb

本文链接：https://blog.csdn.net/lybhit/article/details/140843431

版权

ros工程vscode下配置gdb的调试环境需要添加几个配置文件，下面贴一下用得到的几个配置文件。

c_cpp_properties.json，这个配置作用是方便代码跳转。

{
  "configurations": [
    {
      "browse": {
        "databaseFilename": "${default}",
        "limitSymbolsToIncludedHeaders": false
      },
      "includePath": [
        "/opt/ros/noetic/include/**",
        "/usr/include/**"
      ],
      "name": "ROS",
      "intelliSenseMode": "gcc-x64",
      "compilerPath": "/usr/bin/gcc",
      "cStandard": "gnu11",
      "cppStandard": "c++14"
    }
  ],
  "version": 4
}

备注：需要在vscode中安装ROS插件。

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": "Ros Debug",
            "request": "launch",
            "preLaunchTask": "catkin_make: Debug",
            "target": "${workspaceFolder}/xx.launch",
            "launch": [
                "rviz",
                "gz",
                "gzclient",
                "gzserver"
            ],
            "type": "ros"
        },
        {
            "name": "Ros RelWithDebInfo",
            "request": "launch",
            "preLaunchTask": "catkin_make: RelWithDebInfo",
            "target": "${workspaceFolder}/xx.launch",
            "launch": [
                "rviz",
                "gz",
                "gzclient",
                "gzserver"
            ],
            "type": "ros"
        },
        {
            "name": "Ros Release",
            "request": "launch",
            "preLaunchTask": "catkin_make: Release",
            "target": "${workspaceFolder}/xx.launch",
            "launch": [
                "rviz",
                "gz",
                "gzclient",
                "gzserver"
            ],
            "type": "ros"
        }
    ]
}

tasks.json

{
	"version": "2.0.0",
	"tasks": [
		{
			"type": "catkin_make_isolated",
			"args": [
				"-DCMAKE_EXPORT_COMPILE_COMMANDS=1",
				"--install",
				"--use-ninja",
				"--ignore-pkg",
				"ms_lams",
				"-DCMAKE_BUILD_TYPE=Debug"			
			],
			"problemMatcher": [
				"$catkin-gcc"
			],
			"group": {
				"kind": "build",
				"isDefault": true
			},
			"label": "catkin_make: Debug"
		},
		{
			"type": "catkin_make_isolated",
			"args": [
				"--install",
				"--use-ninja",
				"--ignore-pkg",
				"ms_lams",
				"-DCMAKE_BUILD_TYPE=RelWithDebInfo",
				"-DCMAKE_EXPORT_COMPILE_COMMANDS=1"
			],
			"problemMatcher": [
				"$catkin-gcc"
			],
			"group": {
				"kind": "build",
				"isDefault": true
			},
			"label": "catkin_make: RelWithDebInfo"
		},
		{
			"type": "catkin_make_isolated",
			"args": [
				"--install",
				"--use-ninja",
				"--ignore-pkg",
				"ms_lams", 
				"-DCMAKE_BUILD_TYPE=Release",
				"-DCMAKE_EXPORT_COMPILE_COMMANDS=1"			
			],
			"problemMatcher": [
				"$catkin-gcc"
			],
			"group": {
				"kind": "build",
				"isDefault": true
			},
			"label": "catkin_make: Release"
		}
	]
}