ros2 使用vscode进行调试时的 task.json和launch.json配置

运行–添加配置

{
    "version": "2.0.0",
    "tasks": [
      {
        "type": "colcon",
        "args": [
          "build",
          "--symlink-install",
          "--packages-select",
            "parking_planner",  // 明确指定包名，加速编译
          "--event-handlers",
            "console_cohesion+",
          "--cmake-args",
            "-DCMAKE_BUILD_TYPE=Debug",  // 改为 Debug 模式
            "-DPYTHON_EXECUTABLE=/usr/bin/python3"  // 显式指定Python路径  根据实际修改
        ],
        "problemMatcher": ["$gcc"],   // 通用 problemMatcher
        "group": "build",
        "label": "colcon: build parking_planner"  // 任务标签更明确
 
      }
    ]
  }

lanuch.json

{
“version”: “0.2.0”,
“configurations”: [
{
“name”: “ROS2 Debug parking_area_detector”,
“type”: “cppdbg”,
“request”: “launch”,
“program”: “$workspaceFolder/install/parkin{g}_{a}re{a}_{d}etector/lib/parkin{g}_{a}re{a}_{d}etector/parkin{g}_{a}re{a}_{d}etector","args":[],"stopAtEntry":false,"cwd":"${workspaceFolder}”,
“environment”: [
{
“name”: “LD_LIBRARY_PATH”,
“value”: “${env:LD_LIBRARY_PATH}:/opt/ros/humble/lib” // 补充 ROS2 库路径
}
],
“externalConsole”: false,
“MIMode”: “gdb”,
“miDebuggerPath”: “/usr/bin/gdb”,
“setupCommands”: [
{
“description”: “Enable pretty-printing”,
“text”: “-enable-pretty-printing”,
“ignoreFailures”: true
},
{
“text”: “set follow-fork-mode child” // 合并到单个 setupCommands
}
],
“preLaunchTask”: “colcon: build parking_area_detector”, // 与 tasks.json 的 label 一致
“logging”: {
“moduleLoad”: false,
“trace”: true
}
}
]
}`