使用VSCode进行ROS程序的调试

1、首先需要在VSCode中下载ROS插件

2、编写Tasks.json文件

{
	"version": "2.0.0",
	"tasks": 
	[
		{
			"type": "shell",
			"command": "catkin_make -DCMAKE_BUILD_TYPE=Debug",
			"problemMatcher": [
				"$catkin-gcc"
			],
			"group": {
				"kind": "test",
				"isDefault": true
			},
			"label": "catkin_make: build"
		},
		{
			"type": "shell",
			"command": "catkin_make clean",
			"problemMatcher": [
				"$catkin-gcc"
			],
			"group": "build",
			"label": "catkin_make: clean"
		},
		{
			"type": "shell",
			"command":"catkin_make -DCMAKE_TYPE=Release",
			"problemMatcher": [
				"$catkin-gcc"
			],
			"group": "build",
			"label": "catkin_make: release"
		}
	]
}

3、编写launch.json文件

{
    // Use IntelliSense to learn about possible attributes.
    // Hover to view descriptions of existing attributes.
    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "preLaunchTask": "catkin_make: build",
            "name": "(gdb) 启动",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/devel/lib/vins_estimator/vins_estimator",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "为 gdb 启用整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        }
    ]
}

4、启动gdb调试

 

以上为针对单个ROS节点的调试方法。