VScode ROS 配置gdb调试错误记录

TwilightZrui

已于 2022-06-22 23:34:33 修改

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分类专栏： ubuntu vscode 文章标签： vscode ide visual studio code

于 2022-06-21 10:56:00 首次发布

本文链接：https://blog.csdn.net/twilightzr/article/details/125386778

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问题1：VSCode调试出现无法打开glibc库的“raise.c“或“abort.c“等文件的错误

vscode报错：

Unable to open 'nanosleep.c': Unable to read file '/build/glibc-uZu3wS/glibc-2.27/sysdeps/unix/sysv/linux/nanosleep.c' (Error: Unable to resolve non-existing file '/build/glibc-uZu3wS/glibc-2.27/sysdeps/unix/sysv/linux/nanosleep.c').

在这里插入图片描述
解决：

sudo apt install glibc-source
cd /usr/src/glibc
sudo tar xvf glibc-2.31.tar.xz

在launch.json中的"configurations"下添加

"sourceFileMap": {
    "/build/glibc-YYA7BZ": "/usr/src/glibc"
}

其中"YYA7BZ"要改为报错信息中显示的glibc后缀

问题2：terminate called after throwing an instance of ‘std::runtime_error’

vscode报错

terminate called after throwing an instance of 'std::runtime_error'
  what():  Duration is out of dual 32-bit range

同时显示调用栈出错

在这里插入图片描述
原因：
调用栈中变量取值越界，原因是本次调试是使用的单节点gdb调试，没有加载ROS Launch中的yaml文件,因此很多变量没有初始化，使用过程中会越界，因此出现堆栈调用错误。
解决：
换用launch gdb调试，将yaml文件加载进程序。

修改后的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: Launch",
            "type": "ros",
            "request": "launch",
            "target": "/home/twilight/project/robot/Foothold_ws/src/foothold_planner/foothold_planner/launch/foothold_planner.launch"
        },
        {
            "name": "ROS: Attach",
            "type": "ros",
            "request": "attach"
        },
        {
            "name": "(gdb) Attach",
            "type": "cppdbg",
            "request": "attach",
            "program": "enter program name, for example ${workspaceFolder}/a.out",
            "processId": "${command:pickProcess}",
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        },
        
        {
            "name": "(gdb) Launch",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/devel/lib/foothold_planner/foothold_planner_node",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true                
                }
            ],
            "sourceFileMap": {
                "/build/glibc-uZu3wS": "/usr/src/glibc"
            }
        }
     ]
}