第一步

这块是launch.json

{"version": "0.2.0","configurations": [{"name": "g++ - 生成和调试活动文件","type": "cppdbg","request": "launch","program": "${workspaceFolder}/devel/lib/beginner_tutorials/talker",//要调试的可执行文件，你调试那个文件记得把talker改为相应的cpp文件名字，beginner_tutorials为功能包"args": [],"stopAtEntry": true,//设为true则调试运行时会先停在程序开始"cwd": "${workspaceFolder}","environment": [],"externalConsole": false,"MIMode": "gdb","setupCommands": [{"description": "为 gdb 启用整齐打印","text": "-enable-pretty-printing","ignoreFailures": true}],"preLaunchTask": "builtCpp",//要与tasks.json中label的值保持一致"miDebuggerPath": "/usr/bin/gdb"}]
}

这一块是settings.json

{"python.autoComplete.extraPaths": ["/home/edu/catkin_ws/devel/lib/python3/dist-packages","/opt/ros/noetic/lib/python3/dist-packages"],"python.analysis.extraPaths": ["/home/edu/catkin_ws/devel/lib/python3/dist-packages","/opt/ros/noetic/lib/python3/dist-packages"],"cmake.sourceDirectory": "/home/edu/catkin_ws/src/beginner_tutorials","files.associations": {"*.urdf": "xml","*.urdf.xacro": "xml","cstdlib": "cpp"}
}

这里是task.json

{"version": "2.0.0","tasks": [{"type": "shell","label": "builtCpp","command": "catkin_make -DCMAKE_BUILD_TYPE=Debug","args": [],"options": {"cwd": "${workspaceFolder}"},"problemMatcher": ["$gcc"],"group": "build"},]
}