vscode configures the ros development environment

Preface: In fact, there are two ways to configure the ros environment in vscode. The first is to create a workspace through the terminal, compile and then select vscode to open catkin_ws, and then configure the ros compilation environment in vscode; the second is to directly First open vscode, and then create a ros environment on the terminal of vscode. The two are actually the same thing. I personally prefer the former, and I also show the former here.

The first step: create a ros workspace, the specific operation is as follows

$ mkdir -p ~/catkin_ ws/src
$ cd ~/catkin_ _ws/src
$ catkin_ init_ workspace
$ cd ~/catkin_ _ws/
$ catkin_ make
$ source devel/setup.bash

Step 2: Open catkin_ws with vscode

After opening, select the src folder and right-click to create a function package <info> (the name is optional) input dependency: roscpp rospy std_msgs

Step 3: Configure the compilation environment

In vscode, shift+ctrl+B replace the content inside with

{
// 有关 tasks.json 格式的文档，请参见
    // https://go.microsoft.com/fwlink/?LinkId=733558
    "version": "2.0.0",
    "tasks": [
        {
            "label": "catkin_make:debug", //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"
        }
    ]
}

Step 4: In order to realize code jump and include header files during development in the future, include the path of ros in vscode

ctrl+shift+p to open C++/C (JSON) editing configuration, add your ros path in includePath, such as