ROS——VScode编译ROS工程

1.配置环境

1.1 在工程目录下创建文件夹.vscode
1.2 在文件夹.vscode中添加文件c_cpp_properties.json
将下面内容添加到文件c_cpp_properties.json中

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c11",
            "cppStandard": "c++17",
            "intelliSenseMode": "gcc-x64",
            "compileCommands": "${workspaceFolder}/build/compile_commands.json"
        }
    ],

    "version": 4
}

1.3 在文件夹.vscode中添加文件settings.json
写入下面内容：

{
    "files.associations": {
        "ostream": "cpp",
        "deque": "cpp",
        "forward_list": "cpp",
        "list": "cpp",
        "array": "cpp",
        "*.tcc": "cpp",
        "memory": "cpp",
        "future": "cpp",
        "istream": "cpp",
        "functional": "cpp",
        "tuple": "cpp",
        "utility": "cpp",
        "variant": "cpp",
        "string": "cpp",
        "cctype": "cpp",
        "clocale": "cpp",
        "cmath": "cpp",
        "csignal": "cpp",
        "cstdarg": "cpp",
        "cstddef": "cpp",
        "cstdio": "cpp",
        "cstdlib": "cpp",
        "cstring": "cpp",
        "ctime": "cpp",
        "cwchar": "cpp",
        "cwctype": "cpp",
        "any": "cpp",
        "atomic": "cpp",
        "hash_map": "cpp",
        "hash_set": "cpp",
        "strstream": "cpp",
        "bitset": "cpp",
        "chrono": "cpp",
        "codecvt": "cpp",
        "complex": "cpp",
        "condition_variable": "cpp",
        "cstdint": "cpp",
        "unordered_map": "cpp",
        "unordered_set": "cpp",
        "vector": "cpp",
        "exception": "cpp",
        "algorithm": "cpp",
        "filesystem": "cpp",
        "iterator": "cpp",
        "map": "cpp",
        "memory_resource": "cpp",
        "numeric": "cpp",
        "optional": "cpp",
        "random": "cpp",
        "ratio": "cpp",
        "set": "cpp",
        "string_view": "cpp",
        "system_error": "cpp",
        "type_traits": "cpp",
        "fstream": "cpp",
        "initializer_list": "cpp",
        "iomanip": "cpp",
        "iosfwd": "cpp",
        "iostream": "cpp",
        "limits": "cpp",
        "mutex": "cpp",
        "new": "cpp",
        "shared_mutex": "cpp",
        "sstream": "cpp",
        "stdexcept": "cpp",
        "streambuf": "cpp",
        "thread": "cpp",
        "cfenv": "cpp",
        "cinttypes": "cpp",
        "typeindex": "cpp",
        "typeinfo": "cpp",
        "bit": "cpp",
        "*.ipp": "cpp",
        "core": "cpp"
    },
    "python.autoComplete.extraPaths": [
        "/home/lanx/Program/UAVs/devel/lib/python3/dist-packages",
        "/opt/ros/noetic/lib/python3/dist-packages"
    ],
    "cmakeFormat.exePath": "/usr/local/bin/cmake-format"
}

1.4 在文件夹.vscode中添加文件tasks.json
写入下面内容：

{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "catkin_make", //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"
        },
    ]
}

2.编译

• 先在命令窗口中catkin_make工程；
• 再依次点击点击左上角Terminal->Run Build Task即可；
• 后面修改代码后只需执行步骤2.2即可；