Vscode+ROS/ROS2 开发调试基于ROS/ROS2应用环境配置
Created: March 9, 2023 8:39 PM
Last Edited Time: April 21, 2023 5:24 PM
Created By: Bren-Yi
前言
在ROS操作系统开发应用程序时，我们常常需要调试代码，验证程序的正确性。但是在用rosrun或者roslaunch启动节点后，若程序运行过程中发生错误而导致发生出错停止工作，这时候终端并不会输出具体的信息指出在何处发生了错误，具体错误的原因又是什么。往往仅仅是core dump 或者segmentation fault 等等一类的模糊提示。因此，为了方便快速找出错误，高效解决代码运行问题，本文介绍借助VScode 编辑器结合ROS/ROS2 extensions 完成ros工程的代码编译、调试等一系列开发工作。
Prerequisite
1.VScode: 已经安装近年任一版本的VScode代码编辑器，安装地址：https://code.visualstudio.com/
2.安装好任一版本的 ros系统或者ros2系统
环境配置
本文主要关注如何配置vscode，方便编译ros工作包以及调试ros工作节点。主要步骤包括创建并修改vscode三个配置文件以及安装ros插件。
安装ROS1 或 ROS2 插件
打开终端terminal，cd索引进入到ros工作空间，在工作空间路径下输入
code .
回车后便启动了vscode编辑器, 而后在左侧工具栏中找到extensions 图标, 输入搜索ROS 或者ROS2 extension，点击install button安装。
文件配置
我们需要修改在.vscode文件夹下的四个文件（没有就在文件夹下创建对应的文件）： settings.json 、 tasks.json 、 launch.json、 c_cpp_properties.json
其中， setting.json 主要是对VS Code进行配置的文件，如修改编辑器页面风格、代码格式、字体颜色大小等的编辑设置。
c_cpp_properties.json 主要是设置include头文件索引路径，以便后续编译、实现代码函数的智能搜索跳转
tasks.json 在这主要是构建对源代码文件执行的操作任务， 如编译构建、测试工作空间中的代码等
launch.json则是对工作节点实现调试配置。
ROS工作文件配置
c_cpp_properties.json
{
"configurations": [
{
"name": "ROS",
"intelliSenseMode": "gcc-x64",
"compilerPath": "/usr/bin/g++",
"cStandard": "c11",
"cppStandard": "c++14",
"compileCommands": "${workspaceFolder}/build/compile_commands.json",
"configurationProvider": "b2.catkin_tools"
}
],
"version": 4
}
tasks.json
{
"version": "2.0.0",
"tasks": [
{
"type": "catkin_make",
"args": [
"--directory",
"${workspaceFolder}",
"-DCMAKE_BUILD_TYPE=RelWithDebInfo"
],
"problemMatcher": [
"$catkin-gcc"
],
"group": "build",
"label": "catkin_make: build"
}
],
}
配置好这个文件后， 按快捷键（Ctrl+Alt+B）可对工作空间的所有工作包进行编译
launch.json
{
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"name": "ROS: Launch",
"request": "launch",
"target": "${workspaceFolder}/src/your_ros_package_directory_name/launch/your_launch_name.launch", //填写roslaun文件路径即可
"type": "ros",
// "preLaunchTask": "roscore_test",
// "postDebugTask": "killroscore"
}
]
}
（ps：若提示出现其他啥错误，请删除中文注释。）
这里主要是启动一个工作包的launch文件，这样可以同时调试launch文件中的多个工作节点。
settings.json
{
"python.autoComplete.extraPaths": [
"/opt/ros/noetic/lib/python3/dist-packages"
],
"python.analysis.extraPaths": [
"/opt/ros/noetic/lib/python3/dist-packages"
],
"files.associations": {
"cmath": "cpp",
"cctype": "cpp",
"clocale": "cpp",
"csignal": "cpp",
"cstdarg": "cpp",
"cstddef": "cpp",
"cstdio": "cpp",
"cstdlib": "cpp",
"cstring": "cpp",
"ctime": "cpp",
"cwchar": "cpp",
"cwctype": "cpp",
"any": "cpp",
"array": "cpp",
"atomic": "cpp",
"strstream": "cpp",
"*.tcc": "cpp",
"bitset": "cpp",
"chrono": "cpp",
"codecvt": "cpp",
"complex": "cpp",
"condition_variable": "cpp",
"cstdint": "cpp",
"deque": "cpp",
"forward_list": "cpp",
"list": "cpp",
"unordered_map": "cpp",
"unordered_set": "cpp",
"vector": "cpp",
"exception": "cpp",
"algorithm": "cpp",
"functional": "cpp",
"iterator": "cpp",
"map": "cpp",
"memory": "cpp",
"memory_resource": "cpp",
"numeric": "cpp",
"optional": "cpp",
"random": "cpp",
"ratio": "cpp",
"regex": "cpp",
"set": "cpp",
"string": "cpp",
"string_view": "cpp",
"system_error": "cpp",
"tuple": "cpp",
"type_traits": "cpp",
"utility": "cpp",
"hash_map": "cpp",
"hash_set": "cpp",
"fstream": "cpp",
"future": "cpp",
"initializer_list": "cpp",
"iomanip": "cpp",
"iosfwd": "cpp",
"iostream": "cpp",
"istream": "cpp",
"limits": "cpp",
"mutex": "cpp",
"new": "cpp",
"ostream": "cpp",
"shared_mutex": "cpp",
"sstream": "cpp",
"stdexcept": "cpp",
"streambuf": "cpp",
"thread": "cpp",
"cfenv": "cpp",
"cinttypes": "cpp",
"typeindex": "cpp",
"typeinfo": "cpp",
"variant": "cpp",
"bit": "cpp",
"*.ipp": "cpp",
"dense": "cpp",
"core": "cpp"
}
}
ROS2工作空间文件配置
c_cpp_properties.json
{
"configurations": [
{
"name": "Linux",
"includePath": [
"${workspaceFolder}/**",
"/opt/ros/foxy/include/**" //注意这里foxy换成自己系统安装的ros2系统版本名称
],
"defines": [],
"compilerPath": "/usr/bin/gcc",
"cStandard": "c99",
"cppStandard": "c++14",
"intelliSenseMode": "clang-x64"
}
],
"version": 4
}
（ps：若提示出现其他啥错误，请删除中文注释。）
tasks.json
{
"version": "2.0.0",
"tasks": [
{
"type": "colcon",
"args": [
"build",
"--symlink-install",
"--event-handlers",
"console_cohesion+",
"--base-paths",
"${workspaceFolder}",
"--cmake-args",
"-DCMAKE_BUILD_TYPE=RelWithDebInfo"
],
"problemMatcher": [
"$catkin-gcc"
],
"group": "build",
"label": "colcon: build"
}
]
}
配置好这个文件后， 按快捷键（Ctrl+Alt+B）可对工作空间的所有工作包进行编译
launch.json
{
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"name": "test_launch",
"request": "launch",
"target": "/your_wokspace_name/src/your_ros_package_directory_name/launch/your_launch_name.py", //填写自己的要调试的工作包内的roslaun文件路径即可
"type": "ros"
}
]
}
（ps：若提示出现其他啥错误，请删除中文注释。）
这里主要是启动一个工作包的launch文件，这样可以同时调试launch文件中的多个工作节点。
settings.json
{
"editor.tabSize": 8,
"editor.rulers": [
100
],
"files.associations": {
"*.repos": "yaml",
"*.world": "xml",
"*.xacro": "xml",
"chrono": "cpp"
},
// Autocomplete from ros python packages
"python.autoComplete.extraPaths": [
"/opt/ros/foxy/lib/python3.8/site-packages/" //注意这里foxy换成自己系统安装的ros2系统版本名称
],
// Environment file lets vscode find python files within workspace
"python.envFile": "${workspaceFolder}/.env",
// Use the system installed version of autopep8
"python.formatting.autopep8Path": "/usr/bin/autopep8",
"python.formatting.autopep8Args": [
"--max-line-length=100"
],
"C_Cpp.default.intelliSenseMode": "clang-x64",
"C_Cpp.formatting": "Disabled",
"uncrustify.useReplaceOption": true,
"uncrustify.configPath.linux": "/opt/ros/foxy/lib/python3.8/site-packages/ament_uncrustify/configuration/ament_code_style.cfg", //注意这里foxy换成自己系统安装的ros2系统版本名称
"cSpell.words": [
"RTPS",
"athackst",
"autopep",
"cmake",
"cppcheck",
"cpplint",
"deque",
"devcontainer",
"ints",
"noqa",
"pytest",
"rclcpp",
"rclpy",
"repos",
"rosdistro",
"rosidl",
"uncrustify",
"xmllint"
],
"search.exclude": {
"**/node_modules": true,
"**/bower_components": true,
"**/*.code-search": true,
"**/build": true,
"**/install": true,
"**/log": true
},
"python.analysis.extraPaths": [
"/opt/ros/foxy/lib/python3.8/site-packages/" //注意这里foxy换成自己系统安装的ros2系统版本名称
],
"cSpell.allowCompoundWords": true,
"cSpell.ignorePaths": [
"**/package-lock.json",
"**/node_modules/**",
"**/vscode-extension/**",
"**/.git/objects/**",
".vscode",
".vscode-insiders",
".devcontainer/devcontainer.json"
],
"ros.distro": "foxy", //注意这里foxy换成自己系统安装的ros2系统版本名称
"ros.rosSetupScript": "/opt/ros/foxy/install/setup.bash", //注意这里foxy换成自己系统安装的ros2系统版本名称
"ros.isolateEnvironment": "false"
}
（ps：若提示出现其他啥错误，请删除中文注释。）
调试ROS节点
配置完上述文件后，在节点文件需要中断的地方设置断点后，在vscode左侧工具栏找到 Run amd Debug 图标（或者按快捷键Ctrl+Alt+D）在工具栏右上方拉选框选择launch.json文件配置的调试项后，点击旁边的绿色三角图标便可实现对相关节点的debug。
