vscode进行DebugROS工程的launch文件

0. 首先需要安装ROS插件（Microsoft），已经建立建立ros项目工程, 在功能包CMakeLists.txt目录下打开终端, 执行: code . 打开ros项目

1. 点击F5, 启动debug(Start Debugging), 弹出对话框, 点击打开launch.json.

2. 将configurations里面的东西删掉如下:

{
    // 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": [


    ]
}

3. 然后点击右下角的Add Configuration, 选择: ROS: Launch, 如下:

        {
            "name": "ROS: Launch",
            "type": "ros",
            "request": "launch",
            "target": "absolute path to launch file"
        }

4. 将launch文件的绝对路径加到target里面即可.

5. 注意在CMakeLists.txt里面添加:

set(CMAKE_BUILD_TYPE "RelWithDebInfo")

6. 然后catkin_make编译项目

7. 最后点击F5即可设置断点debug了.        

详情参考: vscode-ros/debug-support.md at master · ms-iot/vscode-ros · GitHub