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ros工程vscode下配置gdb的调试环境需要添加几个配置文件，下面贴一下用得到的几个配置文件。

1. c_cpp_properties.json，这个配置作用是方便代码跳转。

{"configurations": [{"browse": {"databaseFilename": "${default}","limitSymbolsToIncludedHeaders": false},"includePath": ["/opt/ros/noetic/include/**","/usr/include/**"],"name": "ROS","intelliSenseMode": "gcc-x64","compilerPath": "/usr/bin/gcc","cStandard": "gnu11","cppStandard": "c++14"}],"version": 4
}

备注：需要在vscode中安装ROS插件。

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": "Ros Debug","request": "launch","preLaunchTask": "catkin_make: Debug","target": "${workspaceFolder}/xx.launch","launch": ["rviz","gz","gzclient","gzserver"],"type": "ros"},{"name": "Ros RelWithDebInfo","request": "launch","preLaunchTask": "catkin_make: RelWithDebInfo","target": "${workspaceFolder}/xx.launch","launch": ["rviz","gz","gzclient","gzserver"],"type": "ros"},{"name": "Ros Release","request": "launch","preLaunchTask": "catkin_make: Release","target": "${workspaceFolder}/xx.launch","launch": ["rviz","gz","gzclient","gzserver"],"type": "ros"}]
}

3. tasks.json

{"version": "2.0.0","tasks": [{"type": "catkin_make_isolated","args": ["-DCMAKE_EXPORT_COMPILE_COMMANDS=1","--install","--use-ninja","--ignore-pkg","ms_lams","-DCMAKE_BUILD_TYPE=Debug"			],"problemMatcher": ["$catkin-gcc"],"group": {"kind": "build","isDefault": true},"label": "catkin_make: Debug"},{"type": "catkin_make_isolated","args": ["--install","--use-ninja","--ignore-pkg","ms_lams","-DCMAKE_BUILD_TYPE=RelWithDebInfo","-DCMAKE_EXPORT_COMPILE_COMMANDS=1"],"problemMatcher": ["$catkin-gcc"],"group": {"kind": "build","isDefault": true},"label": "catkin_make: RelWithDebInfo"},{"type": "catkin_make_isolated","args": ["--install","--use-ninja","--ignore-pkg","ms_lams", "-DCMAKE_BUILD_TYPE=Release","-DCMAKE_EXPORT_COMPILE_COMMANDS=1"			],"problemMatcher": ["$catkin-gcc"],"group": {"kind": "build","isDefault": true},"label": "catkin_make: Release"}]
}