Ubuntu20.04 + vscode调试ROS-noetic程序

2022-04-27 13:38:06

因为经常跨平台开发，所以自从习惯了vscode后，很少换IDE，对于c/c++直接用gdb的情况相对要少了很多。

这里假设各种依赖和相关要调试的程序已经安装好了。算法以VINS-mono为例讲解，其他的其实也是一样的。

安装vscode

Ubuntu上安装vscode可参考官网，

我把其实的安装那段摘录如下，

Debian and Ubuntu based distributions#

The easiest way to install Visual Studio Code for Debian/Ubuntu based distributions is to download and install the .deb package (64-bit), either through the graphical software center if it's available, or through the command line with:

sudo apt install ./<file>.deb

# If you're on an older Linux distribution, you will need to run this instead:
# sudo dpkg -i <file>.deb
# sudo apt-get install -f # Install dependencies

Note that other binaries are also available on the VS Code download page.

Installing the .deb package will automatically install the apt repository and signing key to enable auto-updating using the system's package manager. Alternatively, the repository and key can also be installed manually with the following script:

wget -qO- https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > packages.microsoft.gpg
sudo install -o root -g root -m 644 packages.microsoft.gpg /etc/apt/trusted.gpg.d/
sudo sh -c 'echo "deb [arch=amd64,arm64,armhf signed-by=/etc/apt/trusted.gpg.d/packages.microsoft.gpg] https://packages.microsoft.com/repos/code stable main" > /etc/apt/sources.list.d/vscode.list'
rm -f packages.microsoft.gpg

Then update the package cache and install the package using:

sudo apt install apt-transport-https
sudo apt update
sudo apt install code # or code-insiders

使用vscode调试node

我的vins-estimator下面euroc.launch的内容如下，

<launch>
    <arg name="config_path" default = "$(find feature_tracker)/../config/euroc/euroc_config.yaml" />
	  <arg name="vins_path" default = "$(find feature_tracker)/../config/../" />
    
    <node name="feature_tracker" pkg="feature_tracker" type="feature_tracker" output="log">
        <param name="config_file" type="string" value="$(arg config_path)" />
        <param name="vins_folder" type="string" value="$(arg vins_path)" />
    </node>

    <node name="vins_estimator" pkg="vins_estimator" type="vins_estimator" output="screen">
       <param name="config_file" type="string" value="$(arg config_path)" />
       <param name="vins_folder" type="string" value="$(arg vins_path)" />
    </node>

    <node name="pose_graph" pkg="pose_graph" type="pose_graph" output="screen">
        <param name="config_file" type="string" value="$(arg config_path)" />
        <param name="visualization_shift_x" type="int" value="0" />
        <param name="visualization_shift_y" type="int" value="0" />
        <param name="skip_cnt" type="int" value="0" />
        <param name="skip_dis" type="double" value="0" />
    </node>

</launch>

可以看到有3个节点，vs这个IDE大家应该都会用，配置C++配置文件的过程就不多讲了，直接给结果，如下，

c_cpp_properties.json

{
    "configurations": [
        {
            "name": "Linux",
            "browse": {
                "databaseFilename": "",
                "limitSymbolsToIncludedHeaders": true
            },
            "includePath": [
                "${workspaceFolder}/**",
                "/opt/ros/noetic/include/**",
                "/usr/include/**"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "gnu17",
            "cppStandard": "gnu++14",
            "intelliSenseMode": "linux-gcc-x64"
        }
    ],
    "version": 4
}

tasks.json

{
    "tasks": [
        {
            "label": "prerun",
            "type": "shell",
            "command": "source ./devel/setup.sh && export ROS_MASTER_URI=http://localhost:11311/ "
        },
        {
            "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"
        }
    ],
    "version": "2.0.0"
}

launch.json

{
    // 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": [
        {
            "name": "feature_tracker",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/devel/lib/feature_tracker/feature_tracker",
            "args": ["_config_file:=${workspaceFolder}/src/VINS-Mono/config/euroc/euroc_config.yaml", "_vins_folder:=${workspaceFolder}/src/vins-mono/"],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "C/C++: g++ 生成活动文件",
            "miDebuggerPath": "/usr/bin/gdb"
        },
        {
            "name": "vins_estimator",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/devel/lib/vins_estimator/vins_estimator",
            "args": ["_config_file:=${workspaceFolder}/src/VINS-Mono/config/euroc/euroc_config.yaml", "_vins_folder:=${workspaceFolder}/src/vins-mono/"],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        },
        {
            "name": "pose_graph",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/devel/lib/pose_graph/pose_graph",
            "args": ["_config_file:=${workspaceFolder}/src/VINS-Mono/config/euroc/euroc_config.yaml", "_visualization_shift_x:=0", "_visualization_shift_y:=0", "_skip_cnt:=0", "_skip_dis:=0"],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        }
    ]
}

这里要注意，如果老是碰到下面的错误，

Unable to open 'raise.c': Unable to read file '/build/glibc-eX1tMB/glibc-2.31/sysdeps/unix/sysv/linux/raise.c'
 (Error: Unable to resolve nonexistent file '/build/glibc-eX1tMB/glibc-2.31/sysdeps/unix/sysv/linux/raise.c').

    config_file = readParam<std::string>(n, "config_file");
"/home/matthew/projects/vinsmono/src/vins-mono/config/euroc/euroc_config.yaml"

那十有八九是配置不正确，例如在参考贴里用的vins-mono，但我的地址是VINS-Mono，所以就报错了，总之就是要和实际使用的地址一致。

最后，启动的时候，只有那个euroc.launch通过vscode启动，其他的两个直接通过终端启动即可。

roslaunch vins_estimator vins_rviz.launch

roslaunch vins_estimator euroc.launch

rosbag play YOUR_PATH_TO_DATASET/MH_01_easy.bag

这里play最后实际运行的是文件包，以我自己的运行为例，

rosbag play ~/downloads/vinsmono/machine_hall/MH_01_easy/MH_01_easy.bag

参考资料

ROS在线调试（使用GDB） - 古月居

利用vscode调试VINS-FUSION - 知乎

VS Code 调试 VINS-Mono 环境配置_Barry_123的博客-CSDN博客_vscode调试vins

如何配置VSCode来调试ROS节点_白夜行的狼-CSDN博客_vscode调试ros

码农公寓

安装vscode

Debian and Ubuntu based distributions#

使用vscode调试node

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