Ubuntu下Vscode对ROS，C++调试配置

一、Vscode对ROS配置

1.1创建ROS工作空间

mkdir -p xxx_ws/src(必须得有 src)
cd xxx_ws
catkin_make

1.2启动 vscode

cd xxx_ws
code .

1.3vscode 中编译 ros

快捷键 ctrl + shift + B 调用编译，选择: catkin_make:build
可以点击配置设置为默认，修改.vscode/tasks.json 文件

{
// 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": "catkin_make:debug", //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": "catkin_make",//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，比如-
DCATKIN_WHITELIST_PACKAGES=“pac1;pac2”
"group": {"kind":"build","isDefault":true},
"presentation": {
"reveal": "always"//可选always或者silence，代表是否输出信息
},
"problemMatcher": "$msCompile"
}
]
}

1.4创建ROS功能包

选定 src 右击 ---> create catkin package

包名 enter roscpp rospy std_msgs

1.5附加

PS1：没有代码提示：修改 .vscode/c_cpp_properties.json 设置 "cppStandard": "c++17"

PS2：int main(int argc, char *argv[])main 函数的参数不可以被 const 修饰

PS3：INFO中文乱码，setlocale(LC_CTYPE, "zh_CN.utf8");setlocale(LC_ALL, "");

二、Vscode配置C++调试

主要修改以下三个文件

2.1c_cpp_properties.json
按下ctrl+shift+p，选C/C++:Edit Configuration UI,生成c_cpp_properties.json,一般保持默认的设置不变即可。

{//无需更改保持默认即可
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",//这里是gcc还是g++不影响
            "cStandard": "c17",
            "cppStandard": "gnu++14",
            "intelliSenseMode": "linux-gcc-x64"
        }
    ],
    "version": 4
}

2.2task.json

按下ctrl+shift+p，选Tasks: Configure Default Build Task,生成task.json,做以下修改：

{
    "tasks": [
        {
            "type": "shell",//原本是cppbuild,不改成shell的话可以单独执行task，但
            //但无法把task作为launch的先导任务，改完这个将在每次调试的时候自动重新编译
            "label": "Build",
            "command": "/usr/bin/g++",//CPP使用编译器g++
            "args": [
                "-fdiagnostics-color=always",
                "-g",
                "${file}",
                "-o",
                "${fileDirname}/${fileBasenameNoExtension}"//生成的文件，launch中调试的文件需要与这里保持一致
            ],
            "options": {
                "cwd": "${fileDirname}"
            },
            "problemMatcher": [
                "$gcc"
            ],
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "detail": "Task generated by Debugger.",
            "presentation":{
				"panel":"new"},//增加presetation属性，设置打开新panel，防止出现终端被占用的报错
        }
    ],
    "version": "2.0.0"
}

2.3launch.json

点击debug图标

生成launch.json文件以后，文件里面有Add Configuration按钮，点击，选C/C++: (gdb) Launch,会生成很多默认配置，做如下修改：

{
    // 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",//Add Configuration选择gdb launch生成下面的信息
            "type": "cppdbg",
            "request": "launch",
            "program": "${fileDirname}/${fileBasenameNoExtension}",//和task中生成的文件保持一致
            "args": [],//这里是调试的时候想传入的参数
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "preLaunchTask": "Build",//改为task中的label，这样可以每次调试之前重新编译
            "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
                }
            ]
        }

    ]
}