在VSCode中编辑 .json 文件，调试ROS节点。

I am a totally fresh man to ROS and cpp Programming. If you have any recommendations and further requires to the contents. Please do not hesitate to leave your comments. 

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Open the VSCode at the base path. The base path is the path to run catkin_make.

Run the following command in the base path to create "c_cpp_properties.json", which will be placed at the directory of .vscode/. And simultaneously "compile_commands.json" will be created and placed at the directory of build/.

catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=Yes

Edit "c_cpp_properties.json". Normally, we only need to modify “includePath”: and “compileCommands”:

c_cpp_properties.jason

VSCode doesn’t have "make" function. Therefore, the "Task" function is used to set up configurations. Use “Ctrl+shift+P” to enter command mode. Select “Tasks: Configure Tasks”. Select “catkin: make”. In .vscode/, a task.jason file will be auto-generated.

task.jason

To build the node, press “Ctrl + Shift + B”. The process of building the node can be observed in the panel of TERMINAL.

processing a node

Click the Debug icon lists on the Activity Bar, and then select “Add Configurations”. Inside the drop-down window, select “C++(GDB/LLDB)”. A “launch.json” file is generated automatically. Edit the file as below.

launch.jason