2.2.2.1 如何在vscode 中设置ROS2的用户代码片段

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1. vscode中设置C++版本的ROS2用户代码片段

1) 找到vscode 下的设置选项，选择用户代码片段

2) 选择用户代码片段后，会弹出选择框，如下图，输入C++,选择 cpp.json

配置好的文件

进入如下文件，下图为本人配置的代码片段模版文件

{
	// Place your snippets for cpp here. Each snippet is defined under a snippet name and has a prefix, body and 
	// description. The prefix is what is used to trigger the snippet and the body will be expanded and inserted. Possible variables are:
	// $1, $2 for tab stops, $0 for the final cursor position, and ${1:label}, ${2:another} for placeholders. Placeholders with the 
	// same ids are connected.
	// Example:
	// "Print to console": {
	// 	"prefix": "log",
	// 	"body": [
	// 		"console.log('$1');",
	// 		"$2"
	// 	],
	// 	"description": "Log output to console"
	// }

	"Print to console": {
		"prefix": "ros2_node_cpp",
		"body": [
				"/*",  
				"	 需求：订阅发布方发布的消息，并在终端输出。",
				"	 流程：",
				"		1.包含头文件；",
				"		2.初始化ROS2客户端；",
				"		3.自定义节点类；",
				"		3-1.创建订阅方；",
				"		3-2.解析并输出数据。",
				"		4.调用spain函数，并传入节点对象指针；",
				"		5.资源释放。",
				"*/",
				"// 1.包含头文件",
				"#include \"rclcpp/rclcpp.hpp\"",
				"",
				"// 3.自定义节点类",
				"class MyNode: public rclcpp::Node{",
				"public:",
				"	MyNode():Node(\"mynode_node_c