标签：Ubuntu20.04 noetic vscode apt euroc workspaceFolder vins config
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，
Running Visual Studio Code on Linux我
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 dependenciesNote 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.gpgThen 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
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
标签：Ubuntu20.04,noetic,vscode,apt,euroc,workspaceFolder,vins,config 来源： https://blog.csdn.net/tanmx219/article/details/122772531
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