在Vscode中调试ROS

单节点应用

在编译前在CMakeLists.txt文件中，指定Debug编译模式
```
set(CMAKE_BUILD_TYPE Debug)
```

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

// 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
        },
    ]
}

//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": "",
        },
    ]
}

调试

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在Vscode中调试ROS

单节点应用

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