0. 前言

随着ROS在机器人行业的越来越普及，机器人领域已经和ROS密不可分，无论是单体机器人还是群体机器人。而最近大热的自动驾驶行业也是以ROS为基础进行改动和开发的，但是由于ROS1自身的不足，越来越多的企业开始转投ROS2的怀抱（当然ROS1和ROS2的编程思想类似，所以转起来还是挺方便的）。最近本人也开始转ROS2，而如何科学有效地对ROS2代码的debug调试，看了全网发现都没有合适的，所以作者自行摸索填上了这个坑。

1. vscode安装

这里我们可以借鉴安装ros环境的操作，先进行vscode的安装。

code . #启动vscode

然后在vscode装下以下扩展，并创建文件夹catkin_ws/src

同时此时会出现一个文件夹.vscode，并存在两个json文件：

2. 文件修改

并将下面的代码替换到这两个文件夹中
c_cpp_properties.json

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**",
                "/opt/ros/foxy/include/**"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c99",
            "cppStandard": "c++14",
            "intelliSenseMode": "clang-x64"
        }
    ],
    "version": 4
}

setting.json

{
    "editor.tabSize": 8,
    "editor.rulers": [
        100
    ],
    "files.associations": {
        "*.repos": "yaml",
        "*.world": "xml",
        "*.xacro": "xml",
        "chrono": "cpp"
    },
    // Autocomplete from ros python packages
    "python.autoComplete.extraPaths": [
        "/opt/ros/foxy/lib/python3.8/site-packages/"
    ],
    // Environment file lets vscode find python files within workspace
    "python.envFile": "${workspaceFolder}/.env",
    // Use the system installed version of autopep8
    "python.formatting.autopep8Path": "/usr/bin/autopep8",
    "python.formatting.autopep8Args": [
        "--max-line-length=100"
    ],
    "C_Cpp.default.intelliSenseMode": "clang-x64",
    "C_Cpp.formatting": "Disabled",
    "uncrustify.useReplaceOption": true,
    "uncrustify.configPath.linux": "/opt/ros/foxy/lib/python3.8/site-packages/ament_uncrustify/configuration/ament_code_style.cfg",
    "cSpell.words": [
        "RTPS",
        "athackst",
        "autopep",
        "cmake",
        "cppcheck",
        "cpplint",
        "deque",
        "devcontainer",
        "ints",
        "noqa",
        "pytest",
        "rclcpp",
        "rclpy",
        "repos",
        "rosdistro",
        "rosidl",
        "uncrustify",
        "xmllint"
    ],
    "search.exclude": {
        "**/node_modules": true,
        "**/bower_components": true,
        "**/*.code-search": true,
        "**/build": true,
        "**/install": true,
        "**/log": true
    },
    "python.analysis.extraPaths": [
        "/opt/ros/foxy/lib/python3.8/site-packages/"
    ],
    "cSpell.allowCompoundWords": true,
    "cSpell.ignorePaths": [
        "**/package-lock.json",
        "**/node_modules/**",
        "**/vscode-extension/**",
        "**/.git/objects/**",
        ".vscode",
        ".vscode-insiders",
        ".devcontainer/devcontainer.json"
    ]
}

此时使用Ctrl+Shift+B进行编译即可
然后在Terminal->Configure Default Build Task->catkin_make:build

…详情请参照古月居