基于VS Code的ROS2代码调试配置

原创已于 2025-07-03 14:27:23 修改 · 205 阅读

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#vscode

于 2025-07-03 11:31:11 首次发布

实现基于VS Code的ROS2代码调试配置需要完成以下三个文件的配置：

1、c_cpp_properties.json

{
    "configurations": [
        {
            "name": "ROS2",
            "includePath": [
                "${workspaceFolder}/src/**",
                "${workspaceFolder}/install/**/include/**",
                "/opt/ros/humble/include/**",
                "/usr/include/**"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/g++",
            "cStandard": "c17",
            "cppStandard": "c++17",
            "intelliSenseMode": "linux-gcc-x64",
            "configurationProvider": "ms-vscode.cmake-tools"
        }
    ],
    "version": 4
}

注：includePath中ROS2版本根据实际情况进行修改。

2、launch.json

{
    "version": "0.2.0",
    "configurations": [
        // 调试服务端节点示例（cpp02_service包）
        {
            "name": "Debug demo01_server",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/build/cpp02_service/demo01_server",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [
                {
                    "name": "ROS_DOMAIN_ID",
                    "value": "0"
                },
                {
                    "name": "LD_LIBRARY_PATH",
                    "value": "${workspaceFolder}/install/base_interfaces/lib:${workspaceFolder}/install/cpp02_service/lib:/opt/ros/humble/lib:$LD_LIBRARY_PATH"
                },
                {
                    "name": "ROS_PACKAGE_PATH",
                    "value": "${workspaceFolder}/src:$ROS_PACKAGE_PATH"
                }
            ],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "colcon build", // 调试前自动编译
            "miDebuggerPath": "/usr/bin/gdb",
            "logging": {
                "moduleLoad": false,
                "trace": true
            }
        },
        // 调试客户端节点示例（cpp02_service包）
        {
            "name": "Debug demo02_client",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/build/cpp02_service/demo02_client",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [
                {
                    "name": "ROS_DOMAIN_ID",
                    "value": "0"
                },
                {
                    "name": "LD_LIBRARY_PATH",
                    "value": "${workspaceFolder}/install/base_interfaces/lib:${workspaceFolder}/install/cpp02_service/lib:/opt/ros/humble/lib:$LD_LIBRARY_PATH"
                }
            ],
            "externalConsole": false,
            "MIMode": "gdb",
            "preLaunchTask": "colcon build",
            "miDebuggerPath": "/usr/bin/gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        }
    ]
}

注：环境变量LD_LIBRARY_PATH中必须添加ROS2的lib路径，负责提示链接库失败问题。

3、tasks.json

{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "colcon build",
            "type": "shell",
            "command": "colcon build --packages-select base_interfaces cpp02_service cpp02_cs cpp04_action cpp04_action_cs --cmake-args -DCMAKE_BUILD_TYPE=Debug",
            "args": [],
            "options": {
                "cwd": "${workspaceFolder}"
            },
            "problemMatcher": [
                "$gcc"
            ],
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "detail": "使用colcon编译指定ROS2包"
        }
    ]
}

注：command中执行colcon build时必须添加--cmake-args -DCMAKE_BUILD_TYPE=Debug参数，负责调试时无法进入断点。

参考：VS Code 使用教程 | 人人都懂物联网