Configuring ROS development environment with vscode: Causes and solutions to the problem of ineffective code modification

Problem description

It's been in use for a while VsCode Conduct ROS When it comes to program development , There is often a problem , The code has been modified , However, the executable file obtained after compilation has never updated the changes made in the code .

VSCode Development environment ：

The main use of CmakeTools plug-in unit , This plug-in can automatically Cmake Configure and generate automatic code completion configuration , You can avoid setting a lot of configuration files manually . Other plug-ins have no impact on this article , Include ：C/C++ plug-in unit ,Cmake plug-in unit ,ROS plug-in unit ( Microsoft provides ).

Troubleshooting of the cause of the problem

By reading the plug-in automatically Cmake Output log and check build The directory structure under the folder is found , plug-in unit CmakeTools In automatic execution cmake When configuring devel The directory is set to build Under the table of contents , in other words , The executable file should have been generated into the workspace devel Folder , But after the plug-in , It relocates this folder to build/devel, As a result, all the results compiled by the plug-in are generated in this folder , So workspace devel The executable file under the folder is always updated , Which led to the problems I encountered . After finding out why , It's not difficult to solve . The contents of the log of problems are as follows ：
Generated build The directory structure is as follows , You can see devel Is in build Under the folder ：

resolvent

It can be seen from the log ,devel The location of the folder is through a folder named $CATKIN\_DEVEL\_PREFIX$ Of cmake Variable , The change amount defaults to devel Folder , But it is in build Under folder devel, Therefore, we only need to specify the value of this variable as devel Folder is ok .
The specific operation is as follows ：

1. open scode Set up settings Interface , find extension Under the CMakeTools, At this time, you will enter the detailed setting page of the plug-in , As shown in the figure below ：
   

2. Scroll down in this interface to find Cmake：Configettings Options , As shown in the figure below , It opens at Edit in settings.json

3. Click to open the configuration file , Remember that the configuration file is under the project directory .vscode/setting.json Not the same file , Be sure to open it here . The configuration file is shown in the figure below , After clicking, it will be automatically added and positioned to "cmake.configureSettings" Set contents , We add variables to it $CATKIN\_DEVEL\_PREFIX$ The value of is... Of the workspace devel Folder .

4. This problem has been solved . Delete the original build Folder , Right click workspace src Under folder CMakeLists.txt file , Click on ConfigureAll Just reconfigure the items automatically . During reconfiguration, you can see the following in the output log ：

Tips

About the value of variables , Theoretically, it can be set to any customized location , But if it is set to a custom location , Before you want to run the node, you need source Under this directory Of setup.bash Script . After solving the problem , You can use CmakeTools The compile button provided by the plug-in compiles the program , Whether you compile all or a single node .