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本文详细记录了在使用ROS进行开发时，遇到的“cannot open source file 'ros/ros.h'”错误的解决过程。作者通过在c_cpp_properties.json文件中正确配置includePath，成功解决了该问题，并分享了具体的配置示例。

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参考链接：https://blog.youkuaiyun.com/u010677365/article/details/80703984

照着以上链接生成c_cpp_properties.json、launch.json、tasks.json

遇到问题：cannot open source file "ros/ros.h" ，在直接c_cpp_properties.json中的includepath中设置，却什么文件就include什么文件路径。

以下是我的c_cpp_properties.json文件中添加的includepath。

注：json文件不支持注释，不能//加注释，我加为了方便看懂。

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**",
                "/usr/local/include",
                
                "/opt/ros/kinetic/include",   //缺少ros/ros.h文件加这个

                "/home/llx/ORB-SLAM2/include",
                "/home/llx/Pangolin/build/src/include",
                "/home/llx/Pangolin/include",   //缺少pangolin/pangplin.h加这个
                "/home/llx/ORB-SLAM2",
                "/usr/include/eigen3"  //缺少eigen/eigen.h文件加这个
                
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c11",
            "cppStandard": "c++17",
            "intelliSenseMode": "clang-x64"
        }
    ],
    "version": 4
}

launch.json只修改“program”、"args".

 "program": "/home/llx/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Mono",
 "args": [
          "/home/llx/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt",
          "/home/llx/catkin_ws/src/ORB_SLAM2/Examples/Monocular/TUM1.yaml"
         ],