# 在Vscode中调试ROS

## 单节点应用

1. 在编译前在CMakeLists.txt文件中，指定Debug编译模式

   ```cmake
   set(CMAKE_BUILD_TYPE Debug)
   ```

2. 配置launch.json 和tasks.json(在根目录.vscode文件夹中)

   ```json
   // tasks.json
   {
       // See https://go.microsoft.com/fwlink/?LinkId=733558
       // for the documentation about the tasks.json format
       "version": "2.0.0",
       "tasks": [
           {
               "label": "rws build", // 名称自定义，要与launch.josn文件要一致 @1
               "type": "shell",
               "command": "source ${workspaceFolder}/install/setup.sh"
               // "command": "colcon build && source ${workspaceFolder}/install/setup.sh" 
               // 不一定调试都需要重新编译
           },
       ]
   }
   ```

   ```json
   //launch.json
   {
       "version": "0.2.0",
       "configurations": [
           {
               "name": "Debug rws Executable", // 名称自定义
               "type": "cppdbg",
               "request": "launch", 
               "program": "${workspaceFolder}/install/rws/lib/rws/rws_server", // 编译好的可执行程序所在路径
               "cwd": "${workspaceFolder}", // 工作目录，默认即可
               "args": [ // 调试阶段需要传递给可执行程序的参数
               ],
               "MIMode": "gdb",
               "setupCommands": [
                   {
                       "description": "Enable pretty-printing for gdb",
                       "text": "-enable-pretty-printing",
                       "ignoreFailures": true
                   }
               ],
               "preLaunchTask": "rws build", // 这里需要与上面的task.json的名称对应 @1
               "miDebuggerPath": "/usr/bin/gdb",
               "miDebuggerArgs": "",
           },
       ]
   }
   
   ```

3.  调试

   ![image-20240924145117137](/assert/1.png)