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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 you're 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，

 

(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

{"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

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，

 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，

参考资料：

GitHub - RoboGnome/VS_Code_ROS: Step by Step Guide to Automate Your ROS Workflow in the VS Code IDE