1、使用VSCODE 调试ros2具体设置

1、在下列目录同层级找到.vscode文件夹

├── build
├── install
├── log
└── src

 2、 安装ros插件

3、创建tasks.json文件，添加下列内容

{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "catkin_make", //代表提示的描述性信息
            "type": "shell", //可以选择shell或者process,如果是shell代码是在shell里面运行一个命令，如果是process代表作为一个进程来运行
            // "command": "catkin_make",//这个是我们需要运行的命令
            "command": "source /mnt/wenjun.zhao_docker/.wenjun.zhao_docker/code/app/install/setup.bash && colcon build  --paths /mnt/wenjun.zhao_docker/.wenjun.zhao_docker/code/app/src/perception/perception_map_engine/tools/mcap_to_geojson --cmake-args -DCMAKE_BUILD_TYPE=Debug", //这个是我们需要运行的命令
            // "command": "catkin_make -DCMAKE_TYPE=Release",//这个是我们需要运行的命令
            "args": [], //如果需要在命令后面加一些后缀，可以写在这里，比如-DCATKIN_WHITELIST_PACKAGES=“pac1;pac2”
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "presentation": {
                "reveal": "always" //可选always或者silence，代表是否输出信息
            },
            "problemMatcher": "$msCompile"
        }
    ]
}

4、创建launch.json文件，添加下列内容，主要把program对应的文件改成自己的

{
    // 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": "run_mcap_to_geojson",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/install/mcap_to_geojson/lib/mcap_to_geojson/mcap_to_geojson_node",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}/install/mcap_to_geojson/lib",
            "environment": [
                {
                    "name": "LD_LIBRARY_PATH",
                    "value": "$LD_LIBRARY_PATH:/opt/ros/humble/lib:${workspaceFolder}/install/foxglove_msgs/lib:${workspaceFolder}/install/juefei_shp_check/lib"
                }
            ],
            "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
                }
            ]
        }
    ]
}

5、CMakeList.txt 增加debug编译模式

set(CMAKE_BUILD_TYPE debug)#debug模式，程序不会被优化，速度非常慢

6、编译 ctrl+shift+B 编译
7、在这个界面，选择自己的launch.json 文件中的调试文件名，然后点击运行即可