Vscode中使用Romote远程开发调试Ros2环境

首先，成功安装ros2环境，参考官方文档中的教程，能用运行出来此处的代码

Writing a simple publisher and subscriber (Python) — ROS 2 Documentation: Iron documentation

下载vscode，进行远程开发，具体参考：Vscode进行远程开发-CSDN博客

在vscode中安装调试ros2所需要的插件，有Python、Pylance、C/C++、CMake Tools、ROS

这些插件安装完成之后，我们已经可以在Vscode中自由跳转Python代码和Ros环境中的rclpy包了

之所以能跳转ros环境的包，是因为我们项目文件夹下面的./vscode中settings.json中成功导入了ros环境的位置

除了.settings.json文件夹，安装Ros插件后，.vscode文件中会自动有一个c_cpp_properties.json文件，里面也是已经自动填充了内容

接下来在.vscode中创建tasks.json文件

会自动生成tasks.json文件，并且插入内容

然后继续在.vscode创建一个文件launch.json文件

{// 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": [// Example launch of a python file{"name": "Launch","type": "python","request": "launch","program": "/opt/demo_ws/src/py_pubsub/py_pubsub/publisher_member_function.py", #注意此处改成你自己的要调试的文件路径"console": "integratedTerminal",},// Example gdb launch of a ros executable{"name": "(gdb) Launch","type": "cppdbg","request": "launch","program": "/opt/demo_ws/py_pubsub/lib/py_pubsub/talker",#此处暂时不太清楚"args": [],"stopAtEntry": true,"cwd": "/opt/demo_ws","externalConsole": false,"MIMode": "gdb","setupCommands": [{"description": "Enable pretty-printing for gdb","text": "-enable-pretty-printing","ignoreFailures": true}]}],"inputs": [{"id": "package","type": "promptString","description": "Package name","default": "learning_ros2"},{"id": "program","type": "promptString","description": "Program name","default": "ros2_talker"}]
}

我们目前只能调试python文件，无法调试 ros executable 。打上断点，即可调试了