There are a few places to look on how to set up VSCode to debug C++ and Python while using a colcon workspace, but these could live with the ROS documentation. colcon and multi-project workspaces add complexity to the environment setup, so we should explain to users how to not let it get in the way of introspection.
Assumptions
You develop on your host Tier 1 OS (Ubuntu, Windows)
You have a src folder and a number of ROS packages
You develop a mix of python and C++ projects
You use VSCode
You have the ability to upgrade CMake (for the CMake debugger in 3.30), which can be done using Kitware's apt repository if on Ubuntu 22.
You open VSCode at the ros_ws top level workspace, and that is where you .vscode settings live.
C++
CMake Debugger
The visual CMake debugger in CMake 3.30 is awesome! But, it assumes you have a top level CMakeLists, or only one CMakeLists project. It's not clear, if you have a package that has a CMake configure error in a ROS workspace, how you get VScode to Configure with Debugger.
VSCode needs intellisense working, but we need to set up the include paths. When you add a new package to the workspace, intellisense needs to know about it. Let's document how to set that up.
GDB
How do we use VSCode's visual GDB debugging on a node?
How do we use VSCode's visual GDB debugging on a gtest test?
Python
Debugger
How do we use VSCode to set breakpoints in a python node?
How do we use VSCode to set breakpoints in a pytest-based test?
Launch
How do we debug a launch file?
Notes
Let's try to help users not resort to print-debugging
Let's try not to make users have to edit any files in .vscode every time they add a new test, a new node, or a new package to the workspace. There may be limitations for how hands-off this can be, but let's document them.
Purpose
There are a few places to look on how to set up VSCode to debug C++ and Python while using a
colconworkspace, but these could live with the ROS documentation.colconand multi-project workspaces add complexity to the environment setup, so we should explain to users how to not let it get in the way of introspection.Assumptions
srcfolder and a number of ROS packagesros_wstop level workspace, and that is where you.vscodesettings live.C++
CMake Debugger
The visual CMake debugger in CMake 3.30 is awesome! But, it assumes you have a top level CMakeLists, or only one CMakeLists
project. It's not clear, if you have a package that has a CMake configure error in a ROS workspace, how you get VScode to Configure with Debugger.Intellisense
VSCode needs intellisense working, but we need to set up the include paths. When you add a new package to the workspace, intellisense needs to know about it. Let's document how to set that up.
GDB
Python
Debugger
Launch
Notes
.vscodeevery time they add a new test, a new node, or a new package to the workspace. There may be limitations for how hands-off this can be, but let's document them.source ./install/setup.bashand `source /opt/ros/References