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I believe this is exactly what you're looking for.

I know this is a relatively old post, but I recently came across this page still feeling lost. I then found the above doc on the vscode-ros github, and it literally walks you through how to debug a node even when launching from a *.launch file. I do believe it is important to build your catkin workspace using the following line like it says in the notes.

$ catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo