ROS——VScode编译ROS工程

末蓝、 2022-12-29 00:22 150阅读 0赞

### 文章目录 ###

*  1.配置环境
 *  2.编译

# 1.配置环境 #

1.1 在工程目录下创建文件夹`.vscode`  
1.2 在文件夹`.vscode`中添加文件`c_cpp_properties.json`  
将下面内容添加到文件`c_cpp_properties.json`中

{ 
        "configurations": [
            { 
                "name": "Linux",
                "includePath": [
                    "${workspaceFolder}/**"
                ],
                "defines": [],
                "compilerPath": "/usr/bin/gcc",
                "cStandard": "c11",
                "cppStandard": "c++17",
                "intelliSenseMode": "gcc-x64",
                "compileCommands": "${workspaceFolder}/build/compile_commands.json"
            }
        ],
    
        "version": 4
    }

1.3 在文件夹`.vscode`中添加文件`settings.json`  
写入下面内容：

{ 
        "files.associations": { 
            "ostream": "cpp",
            "deque": "cpp",
            "forward_list": "cpp",
            "list": "cpp",
            "array": "cpp",
            "*.tcc": "cpp",
            "memory": "cpp",
            "future": "cpp",
            "istream": "cpp",
            "functional": "cpp",
            "tuple": "cpp",
            "utility": "cpp",
            "variant": "cpp",
            "string": "cpp",
            "cctype": "cpp",
            "clocale": "cpp",
            "cmath": "cpp",
            "csignal": "cpp",
            "cstdarg": "cpp",
            "cstddef": "cpp",
            "cstdio": "cpp",
            "cstdlib": "cpp",
            "cstring": "cpp",
            "ctime": "cpp",
            "cwchar": "cpp",
            "cwctype": "cpp",
            "any": "cpp",
            "atomic": "cpp",
            "hash_map": "cpp",
            "hash_set": "cpp",
            "strstream": "cpp",
            "bitset": "cpp",
            "chrono": "cpp",
            "codecvt": "cpp",
            "complex": "cpp",
            "condition_variable": "cpp",
            "cstdint": "cpp",
            "unordered_map": "cpp",
            "unordered_set": "cpp",
            "vector": "cpp",
            "exception": "cpp",
            "algorithm": "cpp",
            "filesystem": "cpp",
            "iterator": "cpp",
            "map": "cpp",
            "memory_resource": "cpp",
            "numeric": "cpp",
            "optional": "cpp",
            "random": "cpp",
            "ratio": "cpp",
            "set": "cpp",
            "string_view": "cpp",
            "system_error": "cpp",
            "type_traits": "cpp",
            "fstream": "cpp",
            "initializer_list": "cpp",
            "iomanip": "cpp",
            "iosfwd": "cpp",
            "iostream": "cpp",
            "limits": "cpp",
            "mutex": "cpp",
            "new": "cpp",
            "shared_mutex": "cpp",
            "sstream": "cpp",
            "stdexcept": "cpp",
            "streambuf": "cpp",
            "thread": "cpp",
            "cfenv": "cpp",
            "cinttypes": "cpp",
            "typeindex": "cpp",
            "typeinfo": "cpp",
            "bit": "cpp",
            "*.ipp": "cpp",
            "core": "cpp"
        },
        "python.autoComplete.extraPaths": [
            "/home/lanx/Program/UAVs/devel/lib/python3/dist-packages",
            "/opt/ros/noetic/lib/python3/dist-packages"
        ],
        "cmakeFormat.exePath": "/usr/local/bin/cmake-format"
    }

1.4 在文件夹`.vscode`中添加文件`tasks.json`  
写入下面内容：

{ 
        "version": "2.0.0",
        "tasks": [
            { 
                "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"
            },
        ]
    }

# 2.编译 #

*  先在命令窗口中`catkin_make`工程；
 *  再依次点击点击左上角`Terminal`\->`Run Build Task`即可；
 *  后面修改代码后只需执行步骤2.2即可；