ubuntu20.04中vscode使用ROS的详细方法

// 指定C/C++类库和包含路径以及配置
{
  "configurations": [
    {
      "browse": {
        "databaseFilename": "${default}",
        "limitSymbolsToIncludedHeaders": false
      },
      "includePath": [
        "/opt/ros/noetic/include/**", //注意要跟所安装的ROS路径一致
        "/usr/include/**"
      ],
      "name": "ROS",
      "intelliSenseMode": "gcc-x64",
      "compilerPath": "/usr/bin/gcc",
      "cStandard": "gnu11",
      "cppStandard": "c++14",
      "compileCommands": "${workspaceFolder}/build/compile_commands.json"
    }
  ],
  "version": 4
}

// 指定catkin_make编译参数
{
    "tasks": [
        {
            "label": "catkin_make: build",
            "type": "shell",
            "command": "catkin_make",
            "args": [
                "--directory",
                "/home/jawenos/project/test_ros",// 注意文件路径
                "-DCMAKE_BUILD_TYPE=Debug" // 注意这里是debug
            ],
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "problemMatcher":"$catkin-gcc"
        }
    ],
    "version": "2.0.0"
}

{
    // 使用 IntelliSense 了解相关属性。 
    // 悬停以查看现有属性的描述。
    // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "name": "ros_test",
            "type": "cppdbg",
            "request": "launch",
            //表示可执行文件所在路径。workspaceFolder表示vscode所加载文件根目录
            "program": "${workspaceFolder}/devel/lib/ros_test/ros_test",
            "args": [],
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": false
                }
            ],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            
        }
    ]
}

#include<iostream>
#include"ros/ros.h"
using namespace std;
int main(int argc, char** argv){
    ROS_INFO("hello");
    return 0;
}

cmake_minimum_required(VERSION 3.0.2)
project(ros_test)
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
)
catkin_package(
 CATKIN_DEPENDS roscpp rospy std_msgs
)
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)
add_executable(ros_test src/ros_test.cpp)

target_link_libraries(ros_test
  ${catkin_LIBRARIES}
)