VScode 实现ROS调试

1. 在VScode中安装ROS插件；
2. 在VScode 界面按住Ctrl+shift+P，弹出命令面板。
3. 输入tasks，根据提示选择default configutrue，生成tasks.json文件。如下图所示：
   4. 将tasks.json内容修改为

{
	"version": "2.0.0",
	"tasks": [
		{
			"type": "catkin_make",
			"command":"source /opt/ros/melodic/setup.bash && catkin_make  -DCMAKE_BUILD_TYPE=Dubug",
			"args": [
			],
			"problemMatcher": [
				"$catkin-gcc"
			],
			"group": {
				"kind": "build",
				"isDefault": true
			},
			"label": "catkin_make: build"
		}
	]
}

5. 点击VScode界面调试按钮，创建launch.json文件，并替换“program”调试文件的路径，如下

 "program": "${workspaceFolder}/devel/lib/lidar_localization/XXX_node",

添加 “preLaunchTask”,内容与tasks.json中"label"的"catkin_make: build"一致：

 "externalConsole": false,
 "MIMode": "gdb",
 "preLaunchTask": "catkin_make: build",