ubuntu22.04 vscode配置ros2调试环境，支持python，c++功能包

最新推荐文章于 2025-05-27 16:32:06 发布

weixin_53224150

最新推荐文章于 2025-05-27 16:32:06 发布

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文章标签： vscode ide 编辑器

本文链接：https://blog.csdn.net/weixin_53224150/article/details/146351981

1. 安装VSCode扩展

在VSCode中安装以下扩展：

C/C++：用于C++代码的智能提示和调试。
Python：用于Python代码的代码补全和调试。
ROS：ROS官方扩展，提供ROS 2的完整开发支持。

2. 配置VSCode

打开VSCode，并打开ROS 2工作空间：

code ~/ros2_ws

2.1 配置`tasks.json`

在VSCode中，按Ctrl+Shift+P，输入Tasks: Configure Task，然后选择Create tasks.json file from template，选择Others。

编辑生成的tasks.json文件，添加以下内容：

{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "colcon build",
            "type": "shell",
            "command": "colcon",
            "args": [
		            "build",
								"--symlink-install",
								"--event-handlers",
								"console_cohesion+",
								"--cmake-args",
								"-DCMAKE_BUILD_TYPE=RelWithDebInfo"
            ],
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "problemMatcher": [],
            "detail": "Build the ROS 2 workspace"
        }
    ]
}

2.2 配置`launch.json`

按Ctrl+Shift+P，输入Debug: Open launch.json，然后选择C++ (GDB/LLDB)。

编辑生成的launch.json文件，添加以下内容：

{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "ROS2 Debug C++",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/install/${input:package_name}/lib/${input:package_name}/${input:package_executable}",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "colcon build",
            "miDebuggerPath": "/usr/bin/gdb",
            "targetArchitecture": "x86_64",
            "logging": {
                "trace": true,
                "traceResponse": true,
                "engineLogging": true
            }
        },
        {
            "name": "ROS2 Debug Python",
            "type": "debugpy",
            "request": "launch",
            "program": "${workspaceFolder}/src/${input:package_name}/${input:package_name}/${input:package_executable}.py",
            "args": [],
            "console": "integratedTerminal",
            "justMyCode": false,
            "preLaunchTask": "colcon build",
    ],
    "inputs": [
    {
      "id": "package_name",
      "type": "promptString",
      "description": "ros2 package name",
      "default": "pub_test"
    },
    {
      "id": "package_executable",
      "type": "promptString",
      "description": "ros2 package executable",
      "default": "pub"
    }
  ]
}

注意：将package_name和package_executable替换为要运行的ROS 2包名和节点名。