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ROS knowledge points - build an ROS development environment using vscode

2022-06-28 15:11:00 【Jerry_ Sea】

Reference resources ：https://blog.csdn.net/qq_42688495/article/details/107750466

bug1: To configure c_cpp_properties.json

{
  "configurations": [
    {
      "browse": {
        "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db",
        "limitSymbolsToIncludedHeaders": false
      },
      "includePath": [
        "/opt/ros/melodic/include/**",
//        "/home/wuhd/catkin_ws/src/dcl_driver/include/**",
//        "/home/wuhd/ws/src/learning/include/**",
//        "/home/wuhd/catkin_ws/src/multi_lidar_calibration/include/**",
        "/usr/include/**"
      ],
      "name": "ROS",
      "intelliSenseMode": "gcc-x64",
      "compilerPath": "/usr/bin/gcc",
      "cStandard": "gnu11",
      "cppStandard": "c++14"
    }
  ],
  "version": 4
}

bug2： Can't find ros/ros.h and std_msgs/String.h

When I configure , Not in the build Generate under folder compile_commands.json file , Because you can find ros/ros.h and std_msgs/String.h

bug3： Hold down Fn+F5 Start debugging , Will generate launch.json

If... Cannot be generated , Manually create... Under the project directory .vscode Folder , as well as .vscode/launch.json file

{
    //  Use  IntelliSense  Learn about properties . 
    //  Hover to see the description of an existing property .
    //  For more information , Please visit : https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
            {
            "name": "(gdb) Launch",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/devel/lib/cal/cal",//  Indicates the path where the executable program is located , among ,${workspaceRoot} Express VScode The root directory of the loaded folder 
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "catkin_make"
        }
    ]
}

bug4： Hold down Fn+F1 establish tasks.json file

Choose any one , And then modify tasks.json The contents of the document ;
If... Cannot be generated , Manually create

{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "catkin_make", // Descriptive information representing the prompt 
            "type": "shell",  // You can choose shell perhaps process, If it is shell The code is in shell Run a command inside , If it is process Represents running as a process 
            "command": "catkin_make",// This is the command we need to run 
            "args": ["-DCMAKE_EXPORT_COMPILE_COMMANDS=1"],// If you need to add some suffixes after the command , It can be written here , such as -DCATKIN_WHITELIST_PACKAGES=“pac1;pac2”
            "group": {"kind":"build","isDefault":true},
            "presentation": {
                "reveal": "always"// Optional always perhaps silence, Represents whether to output information 
            },
            "problemMatcher": "$msCompile"
        },
    ]
}