Ubuntu20.04+vscode快速调试ROS通用程序

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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，

Ubuntu20.04+vscode快速调试ROS通用程序_ROS

(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，

Ubuntu20.04+vscode快速调试ROS通用程序_json_02

 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​​


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