63 lines
1.9 KiB
Markdown
63 lines
1.9 KiB
Markdown
# 在Vscode中调试ROS
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## 单节点应用
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1. 在编译前在CMakeLists.txt文件中，指定Debug编译模式
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```cmake
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set(CMAKE_BUILD_TYPE Debug)
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```
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2. 配置launch.json 和tasks.json(在根目录.vscode文件夹中)
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```json
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// tasks.json
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{
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// See https://go.microsoft.com/fwlink/?LinkId=733558
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// for the documentation about the tasks.json format
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"version": "2.0.0",
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"tasks": [
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{
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"label": "rws build", // 名称自定义，要与launch.josn文件要一致 @1
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"type": "shell",
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"command": "source ${workspaceFolder}/install/setup.sh"
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// "command": "colcon build && source ${workspaceFolder}/install/setup.sh"
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// 不一定调试都需要重新编译
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},
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]
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}
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```
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```json
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//launch.json
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{
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"version": "0.2.0",
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"configurations": [
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{
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"name": "Debug rws Executable", // 名称自定义
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"type": "cppdbg",
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"request": "launch",
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"program": "${workspaceFolder}/install/rws/lib/rws/rws_server", // 编译好的可执行程序所在路径
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"cwd": "${workspaceFolder}", // 工作目录，默认即可
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"args": [ // 调试阶段需要传递给可执行程序的参数
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],
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"MIMode": "gdb",
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"setupCommands": [
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{
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"description": "Enable pretty-printing for gdb",
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"text": "-enable-pretty-printing",
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"ignoreFailures": true
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}
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],
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"preLaunchTask": "rws build", // 这里需要与上面的task.json的名称对应 @1
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"miDebuggerPath": "/usr/bin/gdb",
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"miDebuggerArgs": "",
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},
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]
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}
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```
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3. 调试
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