VSCode

Useful Shortcuts

Debugger;

• F11: step into;
• Shift f11: step out
• F5 continue
• F10: step over
• ctrl-shift-y to open debug console

Set Up VSCode For ROS2 Development In Docker

Reference This feature really is an UI of running gdb on ROS2 projects.

1. Have your container running on your local machine.

2. Install Dev Containers by microsoft. Once installed, select “dev containers”. Then you should be able to attach an instance to your container.

3. Install C/C++, CMake Tools in the running container

4. Make sure to set the workspace folder correctly "workspaceFolder": "/home/mumble_robot", in devcontainer.json

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    {
        "extensions": [
            "github.copilot",
            "github.copilot-chat",
            "github.vscode-pull-request-github",
            "ms-vscode.cmake-tools",
            "ms-vscode.cpptools",
            "ms-vscode.cpptools-extension-pack",
            "ms-vscode.cpptools-themes",
            "twxs.cmake"
        ],
        "workspaceFolder": "/home/mumble_robot"
    }
   

   • Press Ctrl+Shift+P (or Cmd+Shift+P on macOS) to open the Command Palette, then type and select “Dev Containers: Open Dev Container Configuration File”. This command will open your devcontainer.json directly.
5. Create ${"workspaceFolder"}/.vscode, then add launch.json

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   {
     "version": "0.2.0",
     "configurations": [
    {
      "name": "Debug My Executable",
      "type": "cppdbg",
      "request": "launch",
      "program": "${workspaceFolder}/build/halo/halo_tests",
      "args": [],
      "stopAtEntry": false,
      "cwd": "/home/mumble_robot", // explicitly set your working directory here
      "environment": [],
      "externalConsole": false,
      "MIMode": "gdb",
      "miDebuggerPath": "/usr/bin/gdb",
      "preLaunchTask": "colcon build"
    }
     ]
   }
   

• Note that if you have args, like -s data/ch7/EPFL/aquarius_source.pcd, add to "args": ["-s", "data/ch7/EPFL/aquarius_source.pcd"]

1. And ${"workspaceFolder"}/tasks.json

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{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "colcon build",
            "type": "shell",
            "command": "colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug --symlink-install",
            "options": {
                "cwd": "/home/mumble_robot"
            },
            "group": "build",
            "presentation": {
                "reveal": "always",
                "echo": true
            },
            "problemMatcher": []
        },
        {
            "type": "cppbuild",
            "label": "C/C++: gcc build active file",
            "command": "/usr/lib/ccache/gcc",
            "args": [
                "-fdiagnostics-color=always",
                "-g",
                "${file}",
                "-o",
                "${fileDirname}/${fileBasenameNoExtension}"
            ],
            "options": {
                "cwd": "${fileDirname}"
            },
            "problemMatcher": [
                "$gcc"
            ],
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "detail": "Task generated by Debugger."
        }
    ]
}

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- **REMEMBER to set path to your executable** 6. Set break points in a file, then hit `<F5>` to start the debug program. (the triangular button for debugging did not work)

Remote SSH Configuration

• Configuration ~/.ssh/config

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Host <HOSTNAME>
    HostName <IP>
    User <USER_NAME>
    Port 22

• To enable Python module clicking, go to extensions -> click "install on <HOST>" on python extension (10-15MB, typically less than 1-2%)

Latex Support

• $| x |$ works with Jekyll. Without escape, it won’t

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