ROS小车打造（四）--VS Code for Ros开发环境搭建

最新推荐文章于 2025-06-11 22:50:12 发布

leoFY123

最新推荐文章于 2025-06-11 22:50:12 发布

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分类专栏： ROS小车打造文章标签： vscode linux ide

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本文介绍了如何使用VScode在Windows 10上远程连接并调试运行在Linux设备Jetson TX2上的ROS工作空间。步骤包括设置Linux的静态IP和SSH服务，创建ROS工作空间，安装VScode及必备插件，配置.c_cpp_properties.json, launch.json和tasks.json文件，实现代码编辑、编译和调试的一站式体验。

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VS code有很多插件可以方便的进行编写代码与调试，而且可以SSH远程调试非常的方便。

linux设备--jetson TX2

Windows10

1.linux上使用静态IP,并且已开启SSH服务

2.linux上创建ROS工作空间,会自动生成build devel

mkdir ros_ws && cd  ros_ws
mkdir src && cd src
catkin_init_workspace
cd ../
catkin_make

3.windows上安装VSCode,并点扩展栏安装以下插件

4.windows设备与linux建立远程连接

打开工程后会提示有错误，可以添加与编辑，.json文件

1）c_cpp_properties.json 要手动添加

{
  "configurations": [
    {
      "browse": {
        "databaseFilename": "",
        "limitSymbolsToIncludedHeaders": true
      },
      "includePath": [
        "/home/tx2/ros_ws/devel/include/**",
        "/opt/ros/melodic/include/**",
        "/home/tx2/ros_ws/src/beginner_tutorials/include/**",
        "/home/tx2/ros_ws/src/zed-ros-interfaces/include/**",
        "/usr/include/**"
      ],
      "name": "ROS",
      "intelliSenseMode": "gcc-x64",
      "compilerPath": "/usr/bin/g++",
      "cStandard": "c11",
      "cppStandard": "c++11",
      "compileCommands": "${workspaceFolder}/build/compile_commands.json"
    }
  ],
  "version": 4
}

2）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": "(gdb) Launch",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}//devel/lib/beginner_tutorials/beginner_tutorials_node",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
        }
    ]
}

3）tasks.json

{
    "tasks": [
        {
            "type": "shell",
            "label": "catkin_make",
            "command": "catkin_make",
            "args": [
                "-DCMAKE_EXPORT_COMPILE_COMMANDS=1",
                "-DCMAKE_BUILD_TYPE=Release"
            ],

            "group": {
                "kind": "build",
                "isDefault": true
            },
            "presentation": {
                "reveal": "always"
            },
            "problemMatcher": "$msCompile"
        }
    ],
    "version": "2.0.0"
}
}

之后就可以Ctrl+F5 Ctrl+Shift+B了，如果没有上面3个文件也可以通过这两个快捷按提示与报错添加