Ubuntu20.04+vscode快速调试ROS通用程序

今日长缨在手，何时缚住苍龙。这篇文章主要讲述Ubuntu20.04+vscode快速调试ROS通用程序相关的知识，希望能为你提供帮助。

本文旨在引导大家使用vscode快速建立一个调试环境，并真正学会用vscode调试ROS-c/c++程序。碰到任何问题，欢迎在下面留言，我会随时补充。
如果英文好的话，可以去??这里看英文原版??的调试入门介绍，作者写得很细。我这里就不重复造轮子了，为了让大家以最快的速度上手，只把关键几步的信息记录下来，供大家参考。
这里假设你已经安装好了ROS noetic和git。
(1) 安装vscode和extensions
ubuntu上如何安装vscode可以参考官网，
??Running Visual Studio Code on Linux??
需要安装的vscode扩展如下，

C/C++ (c++ intellisense and configuration help) -> Mandatory
Clangd (Alternative intellisense provider. C/C++ intellisense needs to be disabled for this one to work) -> Optional
CMake (Intellisense support in CMakeLists.txt files) -> Optional
GitLens (Git support and additional git tab) -> Optional
python (If youre using rospy) -> Mandatory
vscode-icons (Optional, but helps with all the different file types used by ROS) -> Optional
ROS (Adds helper actions for starting the roscore, for creating ROS packages and provides syntax highlighting for .msg, .urdf and other ROS files) -> Mandatory (Needed for the catkin_make task type)

你可以单独安装，也可以在下载完下面的项目后，加载时会问你是否要添加这些依赖时安装；我主要安装了ROS，c/c++, CMake这3个。
(2) 创建文件夹，下载文件
创建文件夹，比如我的路径为

$cd ~/studyslam/ws/src
$git clone https://github.com/RoboGnome/VS_Code_ROS.git

(3) 运行vscode打开文件夹
这时候你可以用你的vscode打开程序文件夹了

~/studyslam/ws

注意这个是你的主工程目录文件，当然如果你想更直接点打开下面这个目录也是可以的，设置大同小异，

~/studyslam/ws/src/VS_Code_ROS/hello_vs_code

但我们这里都以打开“~/studyslam/ws”这个目录为准进行讲解，目录结构如下图所示，

文章图片

(4) 创建配置文件
接下来你要配置几个文件，你可以使用Ctrl+Shift+P输入task:config task等这种类型的方式，也可以直接手动添加，准备好下面这个几文件，
?c_cpp_properties.json?
快捷键ctrl+shift+p，找到C/C++ :Edit configurations (JSON)，添加c_cppproperties.json文件，这个文件应该是指定一些路径和语言标准

"configurations": [

"browse":
"databaseFilename": "$workspaceFolder/.vscode/browse.vc.db",
"limitSymbolsToIncludedHeaders": false
,
"includePath": [
"/opt/ros/noetic/include/**",
"/home/matthew/studyslam/ws/src/beginner_tutorials/include/**",
"/home/matthew/projects/vinsmono/src/VINS-Mono/camera_model/include/**",
"/usr/include/**"
],
"name": "ROS",
"intelliSenseMode": "gcc-x64",
"compilerPath": "/usr/bin/gcc",
"cStandard": "gnu11",
"cppStandard": "c++14",
"compileCommands": "$workspaceFolder/build/compile_commands.json"

],
"version": 4

?tasks.json?
快捷键ctrl+shift+p，找到Tasks:Configure Task，添加tasks.json文件，这个文件指定一些catkin_make的编译参数。
注意这里的定义"-DCMAKE_BUILD_TYPE=Debug",

"version": "2.0.0",
"tasks": [

"type": "catkin_make",
"args": [
"--directory",
"/home/matthew/studyslam/ws",
"-DCMAKE_BUILD_TYPE=Debug"
],
"problemMatcher": [
"$catkin-gcc"
],
"group":
"kind": "build",
"isDefault": true
,
"label": "catkin_make: build"

]

?launch.json?

// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [

"name": "Talker_Node",
"type": "cppdbg",
"request": "launch",
"program": "$workspaceFolder/devel/lib/hello_vs_code/vs_talker",
"args": [],
"stopAtEntry": false,
"cwd": "$workspaceFolder",
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
"setupCommands": [

"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true

]
,

"name": "Listener_Node",
"type": "cppdbg",
"request": "launch",
"program": "$workspaceFolder/devel/lib/hello_vs_code/vs_listener",
"args": [],
"stopAtEntry": false,
"cwd": "$workspaceFolder",
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
"setupCommands": [

"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true

]
,

"name": "Listener2_Node",
"type": "cppdbg",
"request": "launch",
"program": "$workspaceFolder/devel/lib/hello_vs_code/vs_listener2",
"args": [],
"stopAtEntry": false,
"cwd": "$workspaceFolder",
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
"setupCommands": [

"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true

]

],
"compounds": [

"name": "Talker/Listener",
"configurations": ["Talker_Node", "Listener_Node"]

],

注意这里launch.json里启动了三个节点，同时还有一个compound，写完这个之后，你可以在你的vscode下拉框中看到这几个选项，如下图所示，

文章图片

比如我要同时调试vs_talker和vs_listener，就选了talker/listener那个选项，对应的就是launch.json中的compounds那个。
然后，就可以在talker.cpp和listener.cpp中打断点进行单步调试了。
launch.json中的节点个数主要取决于你想调试哪些节点，比如当我只想调试talker的时候，我的launch.json是这个样子的，

// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [

"name": "(gdb) Launch",
"type": "cppdbg",
"request": "launch",
"program": "$workspaceFolder/devel/lib/hello_vs_code/vs_talker",
"args": [],
"stopAtEntry": false,
"cwd": "$workspaceFolder",
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
"setupCommands": [

"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true

]

],

这时候的vscode下拉菜单中的名称就只有一个“(gdb) Launch”了。
(5)启动调试
启动调试后，会有两个terminal窗口出现，对应这两个线程；此时会出现一个报错，原因是roscore没有启动。在vscode中打开第三个terminal，输入"roscore"启动之后，这两个线程就可以正常工作了。
vscode调试的结果相当于运动下面的程序

终端1：
$ source devel/setup.bash
$ roscore

终端2：
$ source devel/setup.bash
$ rosrun hello_vs_code vs_talker

终端3：
$ source devel/setup.bash
$ rosrun hello_vs_code vs_listener

当然，这些生成的程序本身都是可执行程序，你也可以直接这样运行

终端1:
source devel/setup.bash
~/studyslam/ws$ ./vs_talker

终端2:
source devel/setup.bash
cd devel/lib/hello_vs_code
~/studyslam/ws/devel/lib/hello_vs_code$ ./vs_talker

终端3:
source devel/setup.bash
cd devel/lib/hello_vs_code
~/studyslam/ws/devel/lib/hello_vs_code$ ./vs_listener

Ubuntu下没有找到好的gif录屏软件（如果哪位知道，请告诉我），所以只好录制了一小段视频，但因为这里没法直接发视频，所以又只能另行上传，下载地址参考：
??Ubuntu20.04+vscode快速调试ROS通用程序-其它文档类资源??
本文结束
参考资料：
??GitHub - RoboGnome/VS_Code_ROS: Step by Step Guide to Automate Your ROS Workflow in the VS Code IDE??
??https://github.com/ms-iot/vscode-ros/blob/master/doc/debug-support.md??
【Ubuntu20.04+vscode快速调试ROS通用程序】