【VSCODE】使用Vscode搭建ROS开发环境

工作环境

Ubuntu 18 04

VSCODE

扩展栏安装C/C++，CMake，CMake Tools，Code Runner，Ros等插件;

创建ROS工作环境

新建一个文件夹，创建工作空间，执行以下命令来创建ROS工作环境：

mkdir -p test_ws/src
cd test_ws
catkin_make

创建功能包

cd src/
catkin_create_pkg hellociao roscpp rospy

在hellociao功能包目录下启动vscode
PS.务必在功能包目录下启动vscode

cd hellociao
code .

在该目录下创建src目录，并添加一个cpp文件，命名为hellociao.cpp，内容如下：

mkdir src
cd src/
touch hellociao.cpp

#include <iostream>
#include <string>
#include <sstream>
#include "ros/ros.h"
#include "std_msgs/String.h"

using namespace std;

int main(int argc, char** argv)
{
    ros::init(argc, argv, "talker");
    ros::NodeHandle n;
    ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter1", 1000);
    ros::Rate loop_rate(10);
    int count = 0;
    while(ros::ok())
    {
        std_msgs::String msg;
        std::stringstream ss;
        ss << "hello ciao " << count;
        msg.data = ss.str();
        ROS_INFO("%s", msg.data.c_str());
        chatter_pub.publish(msg);
        ros::spinOnce();
        loop_rate.sleep();
        count++;
    }
    return 0;
}

配置.json文件

c_cpp_properties.json

c_cpp_properties.json：引用库文件配置(ctrl + shift + P ->C/C++ Edit configuration)

{
  "configurations": [
      {
          "browse": {
              "databaseFilename": "",
              "limitSymbolsToIncludedHeaders": true
          },
          "includePath": [
              "/opt/ros/melodic/include/**",
              "${workspaceFolder}/**",
              "/usr/include/**"
          ],
          "name": "ROS",
          "intelliSenseMode": "gcc-x64",
          "compilerPath": "/usr/bin/gcc",
          "cStandard": "gnu11",
          "cppStandard": "gnu++14"
      }
  ],
  "version": 4
}

tasks.json

tasks.json(添加构建（编译、链接等）任务)[[ctrl][shift]+p -> Task,configure default build task] -> catkin_make:build

{
    "version": "2.0.0",
    "tasks": [
        {
            "label":"123",
            "type": "shell",
            "command": "cd ${workspaceFolder}/../../; catkin_make -j3",
            "problemMatcher": [
                "$catkin-gcc"
            ],
            "group": "build",
        }
    ]
}

launch.json

launch.json( 任务配置 F5),创建launch.json如下：

{
    // 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": "hellociao",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/../../devel/lib/hellociao/hellociao",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask":"123"
        }
    ]
}  

修改CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(hellociao)

# 设置编译类型
set(CMAKE_BUILD_TYPE "Debug")

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES helloworld
#  CATKIN_DEPENDS roscpp rospy
#  DEPENDS system_lib
)

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
  ${catkin_INCLUDE_DIRS}
)

# 生成可执行文件
add_executable(hellociao src/hellociao.cpp)

# 链接库
target_link_libraries(hellociao ${catkin_LIBRARIES})

PS: 第5行，30行，33行必加。

结果测试

终端回到test_ws目录下，编译

catkin_make

新开一个终端，启动master节点

roscore

回到vscode界面，打断点，按F5测试

结果如下：