VScode配置ROS开发环境

简介

ROS（机器人操作系统）作为研究slam算法的平台，提供了开放式接口，然而，在写自己的ros程序的时候，没有一款好的IDE看代码会十分麻烦。VScode继承了很多开发工具，因此我选择用VScode添加一些插件，再通过一个实例来演示代码调试过程。

1.安装插件

到VScode左侧工具栏找到扩展，安装以下几个插件：
C/C++；
C/C++ Intellisense；
CMake Tools；
Code Runner；
ROS；
ROS(deprecated)；
XML Tools。

2.创建ROS工作空间

在你想要完成测试目录下新建一个工作空间，这里我的是Code_test，终端中打开该文件夹，通过以下命令快速生成：

mkdir -p Code_test/src
 cd Code_test
 catkin_make

然后再次回到工作空间下通过VScode打开：

code .

在Code_test目录下可以看到4个文件夹：

—.vscode
—build
—devel
—src

右键单击src，选择Create Catkin Package，Package命名为helloworld，

vscode调试ros节点 python_json


回车，添加roscpp, rospy作为依赖项。

vscode调试ros节点 python_json_02


之后src目录下会出现以下文件：

vscode调试ros节点 python_ubuntu_03


继续在src/helloworld/src目录下添加一个cpp文件，命名为helloworld.cpp，内容如下：

#include <iostream>
#include <string>
#include <sstream>
using namespace std;

#include "ros/ros.h"
#include "std_msgs/String.h"

int main(int argc, char** argv)
{
	ros::init(argc, argv, "talker");
	ros::NodeHandle n;
	ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
	ros::Rate loop_rate(10);
	int count = 0;
	while(ros::ok())
	{
		std_msgs::String msg;
		std::stringstream ss;
		ss << "hello world " << count;
		msg.data = ss.str();
		ROS_INFO("%s", msg.data.c_str());
		chatter_pub.publish(msg);
		ros::spinOnce();
		loop_rate.sleep();
		count++;
	}
	return 0;
}

此时可能无法找到ros/ros.h，通过后面的步骤解决

3.配置.json文件

接下来配置c_cpp_properties.json,launch.json,tasks.json分别如下:

  1. c_cpp_properties.json
{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                //"/mnt/home/ubuntu/Code_test",
                "/usr/local/",
                "/usr/include/",
                "/opt/ros/melodic/include/"
                //"/opt/ros/melodic/include/ros/"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
            "cStandard": "c11",
            "cppStandard": "c++17",
            "intelliSenseMode": "clang-arm64",
            "browse": {
                "path": [
                    "/usr/local/*",
                    "/usr/include/*",
                    "/opt/ros/melodic/include/*",
                    "/opt/ros/melodic/include/ros/*"
                ]
            }
        }
    ],
    "version": 4
}

其中/opt/ros/melodic/include为ROS相关头文件所在的路径，此时可能仍然找不到ros/ros.h,继续运行以下命令即可在build文件夹下生成compile_commands.json文件:

catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=1

然后就可以找到ros/ros.h了;

启动调试，就会生成launch.json，修改launch.json文件内容如下：

  1. launch.json
// 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": "(gdb) Launch", // 配置名称，将会在调试配置下拉列表中显示
                "type": "cppdbg",  // 调试器类型 该值自动生成
                "request": "launch",  // 调试方式,还可以选择attach
                //"program": "/mnt/home/ubuntu/Code_test/src/helloworld/src/helloworld.cpp", //要调试的程序（完整路径，支持相对路径）
                "program": "${workspaceFolder}/devel/lib/helloworld/helloworld",// 表示可执行程序所在的路径，其中，${workspaceRoot}表示VScode加载的文件夹的根目录
                "args": [],  // 传递给上面程序的参数，没有参数留空即可
                "stopAtEntry": false,  // 是否停在程序入口点（停在main函数开始）
                "cwd": "${workspaceRoot}",  // 调试程序时的工作目录
                "environment": [], //针对调试的程序，要添加到环境中的环境变量. 例如: [ { "name": "squid", "value": "clam" } ]
                "externalConsole": false,   //如果设置为true，则为应用程序启动外部控制台。 如果为false，则不会启动控制台，并使用VS Code的内置调试控制台。
                "MIMode": "gdb",  // VSCode要使用的调试工具
                "setupCommands": [
                    {
                        "description": "Enable pretty-printing for gdb",
                        "text": "-enable-pretty-printing",
                        "ignoreFailures": true
                    }
                ]
                //"preLaunchTask": "make build"//最好删了，不然会影响调试，每次调试都直接执行make build
            }
        ]
    }
  1. tasks.json，用于编译：
{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "catkin_make", //代表提示的描述性信息
            "type": "shell",  //可以选择shell或者process,如果是shell代码是在shell里面运行一个命令，如果是process代表作为一个进程来运行
            "command": "catkin_make",//这个是我们需要运行的命令
            "args": [],//如果需要在命令后面加一些后缀，可以写在这里，比如-DCATKIN_WHITELIST_PACKAGES=“pac1;pac2”
            "group": {"kind":"build","isDefault":true},
            "presentation": {
                "reveal": "always"//可选always或者silence，代表是否输出信息
            },
            "problemMatcher": "$msCompile"
        },
    ]
}

4.修改CmakeLists文件

继续修改src/helloworld/CMakeLists.txt文件，在末尾添加以下程序：

# 头文件路径
include_directories(
include
  ${catkin_INCLUDE_DIRS}
)
# 生成可执行文件
add_executable( helloworld src/helloworld.cpp )
# 链接库
target_link_libraries(helloworld ${catkin_LIBRARIES})

5.测试

按住Ctrl+Shift+B编译该程序，就可以看到与catkin_make一样的编译过程：

> Executing task: catkin_make <

Base path: /mnt/home/ubuntu/Code_test
Source space: /mnt/home/ubuntu/Code_test/src
Build space: /mnt/home/ubuntu/Code_test/build
Devel space: /mnt/home/ubuntu/Code_test/devel
Install space: /mnt/home/ubuntu/Code_test/install
####
#### Running command: "cmake /mnt/home/ubuntu/Code_test/src -DCATKIN_DEVEL_PREFIX=/mnt/home/ubuntu/Code_test/devel -DCMAKE_INSTALL_PREFIX=/mnt/home/ubuntu/Code_test/install -G Unix Makefiles" in "/mnt/home/ubuntu/Code_test/build"
####
-- Using CATKIN_DEVEL_PREFIX: /mnt/home/ubuntu/Code_test/devel
-- Using CMAKE_PREFIX_PATH: /mnt/home/ubuntu/catkin_ws/devel_isolated/cartographer_turtlebot;/mnt/home/ubuntu/catkin_ws/install_isolated;/mnt/home/ubuntu/turtlebot_ws/devel;/opt/ros/melodic
-- This workspace overlays: /mnt/home/ubuntu/catkin_ws/devel_isolated/cartographer_turtlebot;/mnt/home/ubuntu/catkin_ws/install_isolated;/mnt/home/ubuntu/turtlebot_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /mnt/home/ubuntu/Code_test/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - helloworld
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'helloworld'
-- ==> add_subdirectory(helloworld)
-- Configuring done
-- Generating done
-- Build files have been written to: /mnt/home/ubuntu/Code_test/build
####
#### Running command: "make -j6 -l6" in "/mnt/home/ubuntu/Code_test/build"
####
Scanning dependencies of target helloworld
[ 50%] Building CXX object helloworld/CMakeFiles/helloworld.dir/src/helloworld.cpp.o
[100%] Linking CXX executable /mnt/home/ubuntu/Code_test/devel/lib/helloworld/helloworld
[100%] Built target helloworld

终端将被任务重用，按任意键关闭。

> Executing task: catkin_make <

Base path: /mnt/home/ubuntu/Code_test
Source space: /mnt/home/ubuntu/Code_test/src
Build space: /mnt/home/ubuntu/Code_test/build
Devel space: /mnt/home/ubuntu/Code_test/devel
Install space: /mnt/home/ubuntu/Code_test/install
####
#### Running command: "make cmake_check_build_system" in "/mnt/home/ubuntu/Code_test/build"
####
####
#### Running command: "make -j6 -l6" in "/mnt/home/ubuntu/Code_test/build"
####
[100%] Built target helloworld

终端将被任务重用，按任意键关闭。

> Executing task: catkin_make <

Base path: /mnt/home/ubuntu/Code_test
Source space: /mnt/home/ubuntu/Code_test/src
Build space: /mnt/home/ubuntu/Code_test/build
Devel space: /mnt/home/ubuntu/Code_test/devel
Install space: /mnt/home/ubuntu/Code_test/install
####
#### Running command: "make cmake_check_build_system" in "/mnt/home/ubuntu/Code_test/build"
####
####
#### Running command: "make -j6 -l6" in "/mnt/home/ubuntu/Code_test/build"
####
Scanning dependencies of target helloworld
[ 50%] Building CXX object helloworld/CMakeFiles/helloworld.dir/src/helloworld.cpp.o
[100%] Linking CXX executable /mnt/home/ubuntu/Code_test/devel/lib/helloworld/helloworld
[100%] Built target helloworld

终端将被任务重用，按任意键关闭。

> Executing task: catkin_make <

Base path: /mnt/home/ubuntu/Code_test
Source space: /mnt/home/ubuntu/Code_test/src
Build space: /mnt/home/ubuntu/Code_test/build
Devel space: /mnt/home/ubuntu/Code_test/devel
Install space: /mnt/home/ubuntu/Code_test/install
####
#### Running command: "make cmake_check_build_system" in "/mnt/home/ubuntu/Code_test/build"
####
####
#### Running command: "make -j6 -l6" in "/mnt/home/ubuntu/Code_test/build"
####
[100%] Built target helloworld

终端将被任务重用，按任意键关闭。

> Executing task: catkin_make <

Base path: /mnt/home/ubuntu/Code_test
Source space: /mnt/home/ubuntu/Code_test/src
Build space: /mnt/home/ubuntu/Code_test/build
Devel space: /mnt/home/ubuntu/Code_test/devel
Install space: /mnt/home/ubuntu/Code_test/install
####
#### Running command: "make cmake_check_build_system" in "/mnt/home/ubuntu/Code_test/build"
####
####
#### Running command: "make -j6 -l6" in "/mnt/home/ubuntu/Code_test/build"
####
[100%] Built target helloworld

终端将被任务重用，按任意键关闭。

最后测试生成的可执行文件．在VScode中新开一个终端，运行ROS的master节点，然后按住Fn+F5运行生成的可执行文件，结果如下：

[ INFO] [1608535222.099141881]: hello world 0
[ INFO] [1608535222.199263812]: hello world 1
[ INFO] [1608535222.299218928]: hello world 2
[ INFO] [1608535222.399286523]: hello world 3
[ INFO] [1608535222.499294439]: hello world 4
[ INFO] [1608535222.599360882]: hello world 5
[ INFO] [1608535222.699323230]: hello world 6
[ INFO] [1608535222.799303370]: hello world 7
[ INFO] [1608535222.899336022]: hello world 8
[ INFO] [1608535222.999295714]: hello world 9
[ INFO] [1608535223.099223374]: hello world 10
[ INFO] [1608535223.199598039]: hello world 11
[ INFO] [1608535223.299278789]: hello world 12
[ INFO] [1608535223.399296081]: hello world 13
[ INFO] [1608535223.499288924]: hello world 14
[ INFO] [1608535223.599297256]: hello world 15
[ INFO] [1608535223.699288820]: hello world 16
[ INFO] [1608535223.799404127]: hello world 17
[ INFO] [1608535223.899241932]: hello world 18
[ INFO] [1608535223.999230008]: hello world 19
[ INFO] [1608535224.099249219]: hello world 20
[ INFO] [1608535224.199362318]: hello world 21
[ INFO] [1608535224.299336954]: hello world 22
[ INFO] [1608535224.399341222]: hello world 23

在另一个终端中输入

rostopic echo /chatter

即可输出该程序发布的话题:

data: "hello world 653"
---
data: "hello world 654"
---
data: "hello world 655"
---
data: "hello world 656"
---
data: "hello world 657"
---
data: "hello world 658"
---
data: "hello world 659"
---
data: "hello world 660"
---
data: "hello world 661"
---
data: "hello world 662"
---

至此，ROS开发环境已经搭好了，要测试不同的程序仍需要重新更改配置文件，方法同上，主要改launch.json和CmakeLists这两个文件。

参考

使用VScode搭建ROS开发环境