ROS2 CPP 功能包使用 VScode/clion 进行 debug

开启 debug

在 CMakeLists.txt 添加 target 之前中添加

1	set(CMAKE_BUILD_TYPE Debug)

或者编译选项

1	-DCMAKE_BUILD_TYPE=Debug

编译

1	colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

先 source install/setup.bash后打开 IDE 进行调试

vscode 配置

task.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": "(gdb) Launch",
      "type": "cppdbg",
      "request": "launch",
      "program": "${workspaceFolder}/install/${input:package_name}/lib/${input:package_name}/${input:package_executable}",
      "args": [],
      "stopAtEntry": true,
      "cwd": "${workspaceFolder}",
      "environment": [],
      "externalConsole": false,
      "MIMode": "gdb",
      "setupCommands": [
          {
              "description": "Enable pretty-printing for gdb",
              "text": "-enable-pretty-printing",
              "ignoreFailures": true
          },
          // {
          //     "description": "Set Disassembly Flavor to Intel",
          //     "text": "-gdb-set disassembly-flavor intel",
          //     "ignoreFailures": true
          // }
      ]
    }
  ],
  "inputs": [
    {
      "id": "package_name",
      "type": "promptString",
      "description": "ros2 package name",
      "default": "cpp_primer_pubsub"//写上要调试的包
    },
    {
      "id": "package_executable",
      "type": "promptString",
      "description": "ros2 package executable",
      "default": "talker"//写上要调试的功能
    }
  ]
}