ubuntu20.04 vscode使用ROS（C++）

1.在vscode安装扩展

ROS的安装较为麻烦，需要的@我，我单独出一份教程

在vscode的左边中的拓展（快捷键Ctrl+Shift+X)中搜索并添加以下拓展

· C/C++· CMake· ROS

2. 创建工作文件夹

2.1 快捷键打开终端 ctrl+alt+t

2.2 新建文件夹 mkdir -p test_ros/src

2.3 进入新建的文件夹 cd test_ros

2.4 编译catkin_make

如果有多个版本 python，输入:

catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

2.5 输入code打开vscode，点击文件-打开文件夹,选择刚刚新建的test_ros文件夹

3.新建ros工程

3.1 右键点击src文件夹，选择Create Catkin Package

3.2 Package name是自定义的，在运行时用到，这里命名为ros_test

3.3 Dependecies中输入std_msgs rospy roscpp

以上两步等同于在命令行中输入
catkin_create_pkg ros_test std_msgs rospy roscpp

4.修改配置文件

4.1 c_cpp_properties.json

快捷键Ctrl+Shift+p, 找到C/C++: 编辑配置或者 C/C++: Edit configurations(JSON)

修改如下

// 指定C/C++类库和包含路径以及配置
{"configurations": [{"browse": {"databaseFilename": "${default}","limitSymbolsToIncludedHeaders": false},"includePath": ["/opt/ros/noetic/include/**", //注意要跟所安装的ROS路径一致"/usr/include/**"],"name": "ROS","intelliSenseMode": "gcc-x64","compilerPath": "/usr/bin/gcc","cStandard": "gnu11","cppStandard": "c++14","compileCommands": "${workspaceFolder}/build/compile_commands.json"}],"version": 4
}

4.2 tasks.json

快捷键Ctrl+Shift+p, 找到任务：配置任务或者 Tasks: Configure task，选哪项都可以，因为要修改

// 指定catkin_make编译参数
{"tasks": [{"label": "catkin_make: build","type": "shell","command": "catkin_make","args": ["--directory","/home/jawenos/project/test_ros",// 注意文件路径"-DCMAKE_BUILD_TYPE=Debug" // 注意这里是debug],"group": {"kind": "build","isDefault": true},"problemMatcher":"$catkin-gcc"}],"version": "2.0.0"
}

4.3 launch.json

在vscode的左边栏中运行与调试（快捷键Ctrl+Shift+D）创建launch.json，
修改如下：

{// 使用 IntelliSense 了解相关属性。 // 悬停以查看现有属性的描述。// 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387"version": "0.2.0","configurations": [{"name": "ros_test","type": "cppdbg","request": "launch",//表示可执行文件所在路径。workspaceFolder表示vscode所加载文件根目录"program": "${workspaceFolder}/devel/lib/ros_test/ros_test","args": [],"environment": [],"externalConsole": false,"MIMode": "gdb","setupCommands": [{"description": "Enable pretty-printing for gdb","text": "-enable-pretty-printing","ignoreFailures": false}],"stopAtEntry": false,"cwd": "${workspaceFolder}",}]
}

5.cpp文件

5.1 首先在ros_test文件夹中的src文件夹中新建一个C++文件 ros_test.cpp，在其中写入

#include<iostream>
#include"ros/ros.h"
using namespace std;
int main(int argc, char** argv){ROS_INFO("hello");return 0;
}

5.2 修改ros_test中的CMakeList文件

cmake_minimum_required(VERSION 3.0.2)
project(ros_test)
find_package(catkin REQUIRED COMPONENTSroscpprospystd_msgs
)
catkin_package(CATKIN_DEPENDS roscpp rospy std_msgs
)
include_directories(
# include${catkin_INCLUDE_DIRS}
)
add_executable(ros_test src/ros_test.cpp)target_link_libraries(ros_test${catkin_LIBRARIES}
)

5.3 点击vscode上方终端,新建终端，catkin_make重新编译一次文件，再输入roscore启动ROS，最后到ros_test.cpp中F5开始调试即可