ubuntu16.04下vscode配置ros工作空间环境

#在此配置文件中可以配置头文件路径，
c_cpp_properties.json
 

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**",
                "/usr/include/pcl-1.9",
                "/usr/include/eigen3",
                "/usr/include/vtk-6.2"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "gnu11",
            "cppStandard": "gnu++98",
            "intelliSenseMode": "linux-gcc-x64"
        }
    ],
    "version": 4
}

#这个文件中最主要配置的是"program"，用来确定可执行文件的路径，ros工程中需要注释掉"preLaunchTask"。
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": "g++ - 生成和调试活动文件",
            "type": "cppdbg",
            "request": "launch",
            //"program": "${fileDirname}/${fileBasenameNoExtension}",
            "program": "${workspaceFolder}/build/pcl_pcd/read_pcd",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "为 gdb 启用整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            //"preLaunchTask": "build",
            "miDebuggerPath": "/usr/bin/gdb"
        }
    ]
}

#此配置文件中包括了编译指令，作为ros工程，采用catkin进行编译；如果采用cmake进行编译，采用cmake指令；如果单独采用g++编译，则采用g++指令。
tasks.json
 

{
    "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"
        },
    ]
}