vscode debug cmake(ros)

vscode debug cmake(ros)

可看我b站发的视频：
https://www.bilibili.com/video/BV17B4y1r7Ni?spm_id_from=333.999.0.0&vd_source=909c1505ad92897a1a91f189ad8f9d76

```cpp
{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/clang",
            "cStandard": "c11",
            "cppStandard": "c++14",
            "intelliSenseMode": "linux-clang-x64"
        }
    ],
    "version": 4
}

launch.json
{
    // 使用 IntelliSense 了解相关属性。 
    // 悬停以查看现有属性的描述。
    // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "name": "(gdb) 启动",
            "type": "cppdbg",
            "request": "launch",
            "program": "/home/lao-tang/Documents/demo_code/OB_GINS/bin/ob_gins",
            "args": ["/home/lao-tang/Documents/demo_code/OB_GINS/dataset/ob_gins.yaml"],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "为 gdb 启用整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                },
                {
                    "description": "将反汇编风格设置为 Intel",
                    "text": "-gdb-set disassembly-flavor intel",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "make"
        }
    ]
}

task.json

{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "mkdir",
            "type": "shell",
            "command": "mkdir",
            "args": [
                "-p",
                "build"
            ],
        },
        {
            "label": "cmake",     // 命令的别名
            "type": "shell",         
            "command": "cmake",    // 命令
            "args": [                         // 参数列表
                ".."
            ],
            "options": {
                "cwd": "${workspaceFolder}/build", // 该命令的工作目录
            },
            "dependsOn": [   // 该命令执行前应该执行的命令
                "mkdir" 
            ]
        },
        {
            "label": "make",
            "type": "shell",
            "command": "make",
            "args": [],
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "options": {
                "cwd": "${workspaceFolder}/build",
            },
            "dependsOn": [
                "cmake"
            ]
        }
    ]
}