配置Vscode实现ROS编写

第一步：下载必要的插件

第二步：配置编译快捷键

Ctrl+Shift+B

先Ctrl+Shift+B调出如下图所示，再点击catkin_make:build后面的小齿轮就会出现tasks.json文件。

 将tasks.json文件替换为如下内容：

{
	"version": "2.0.0",
	"tasks": [
		{
			"label": "catkin_make: build",
			"type": "shell",
			"command":"catkin_make",
			"args": [],
			"group":{"kind": "build","isDefault": true},
			"presentation": {
				"reveal": "always",
			},
			"problemMatcher":"$msCompile"
		}
	]
}

保存后即可实现快捷键Ctrl+Shift+B进行编译。

第三步：解决代码不能自动补全的问题

 首先打开c_cpp_properties.json文件

在该文件中添加如下内容：

{
  "configurations": [
    {
      "browse": {
        "databaseFilename": "",
        "limitSymbolsToIncludedHeaders": true
      },
      "includePath": [
        "/home/zhangpeng/kinova_ws/devel/include/**",
        "/home/zhangpeng/catkin_ws/devel/include/**",
        "/opt/ros/kinetic/include/**",
        "/home/zhangpeng/catkin_ws/src/aruco_ros/aruco/include/**",
        "/home/zhangpeng/catkin_ws/src/aruco_ros/aruco_ros/include/**",
        "/home/zhangpeng/KinectDK_ws/src/Azure_Kinect_ROS_Driver/include/**",
        "/home/zhangpeng/kinova_ws/src/kinova-ros/kinova_moveit/inverse_kinematics_plugins/ikfast/j2n6s300_ikfast/include/**",
        "/home/zhangpeng/kinova_ws/src/kinova-ros/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s6s300_ikfast/include/**",
        "/home/zhangpeng/kinova_ws/src/kinova-ros/kinova_moveit/inverse_kinematics_plugins/ikfast/j2s7s300_ikfast/include/**",
        "/home/zhangpeng/catkin_ws/src/iai_kinect2/kinect2_bridge/include/**",
        "/home/zhangpeng/catkin_ws/src/iai_kinect2/kinect2_calibration/include/**",
        "/home/zhangpeng/catkin_ws/src/iai_kinect2/kinect2_registration/include/**",
        "/home/zhangpeng/kinova_ws/src/kinova-ros/kinova_moveit/kinova_arm_moveit_demo/include/**",
        "/home/zhangpeng/kinova_ws/src/kinova-ros/kinova_driver/include/**",
        "/home/zhangpeng/catkin_wsone/src/learning_communication/include/**",
        "/home/zhangpeng/kinova_ws/src/kinova-ros/kinova_moveit/inverse_kinematics_plugins/ikfast/m1n6s300_ikfast/include/**",
        "/home/zhangpeng/catkin_ws/src/vision_visp/visp_bridge/include/**",
        "/usr/include/**"
      ],
      "name": "ROS",
      "cppStandard": "c++17"
    }
  ],
  "version": 4
}

其中最重要的主要是这几行：

 "cppStandard": "c++17"

然后就可以实现代码补全。