How to debug ROS2 Code with an IDE?

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Hi everyone,

I am having some trouble trying to debug a ROS2 Project with Visual Studio 2017.I was working before with Qt but then I converted the project to VS, so you will find some Qt Code. I am working on Windows 10 with ROS2 Bouncy installed according to the steps of building from source. My code compiles and works fine, without any errors, but I would like to debug it properly.

Here is the code:

Class Publisher

  #include "ros2publisher.h"

  #include <QDebug>

  ROS2Publisher::ROS2Publisher(rclcpp::Node::SharedPtr ros2node, QString topic)
  {
      createPublisher(ros2node, topic);
  }

  void ROS2Publisher::createPublisher(rclcpp::Node::SharedPtr ros2node, QString topic)
  {
      if(ros2Publisher)
          ros2Publisher.reset();

   ros2Publisher = ros2node->create_publisher<std_msgs::msg::Float64>(topic.toStdString(), rmw_qos_profile_default);
   ros2Publisher_status = ros2node->create_publisher<std_msgs::msg::Bool>("status_rw_" + topic.toStdString(), 
   rmw_qos_profile_default);
  }

  void ROS2Publisher::publishMessage(double vec)
  {
      std_msgs::msg::Float64 msg;

      msg.data = vec;
      qDebug()<<"-------------------------- \nPublishing Message: "<<vec;
      ros2Publisher->publish(msg);
  }


   void ROS2Publisher::publishStatus(bool b)
  {
      std_msgs::msg::Bool msg;
      msg.data = b;

      qDebug() << "Publish Status: " << b;
      ros2Publisher_status->publish(msg);
   }

Class Subscriber

 #include "ros2subscriber.h"
 #include <QDebug>

 ROS2Subscriber::ROS2Subscriber(rclcpp::Node::SharedPtr ros2node, QString topic)
 {
     createSubscriber(ros2node, topic);
 }

 void ROS2Subscriber::createSubscriber(rclcpp::Node::SharedPtr ros2node, QString topic)
{
   if(ros2Subscriber)
      ros2Subscriber.reset();

ros2Subscriber = ros2node->create_subscription<std_msgs::msg::Float64>(topic.toStdString(), 
std::bind(&ROS2Subscriber::msgCallback, this, std::placeholders::_1));

 qDebug() << QString::fromStdString(topic.toStdString() + " SetPoint");
 }

  void ROS2Subscriber::msgCallback(const std_msgs::msg::Float64::SharedPtr msg)
 {
     double data = msg->data;
     data++;
     qDebug()<< "Read data: "<<data;
     emit newROS2Msg(data);
 }

"Main"

void MainWindow::on_publishButton_clicked()
{
rclcpp::init(0, 0);

bool ok;
value = (ui->setPoint_lineEdit->text()).toDouble(&ok);

QString topic = ui->orientation_label->text();

ros2NodeP = rclcpp::Node::make_shared("StandAlonePub");
ros2NodeS = rclcpp::Node::make_shared("StandAloneSub");



  if (rclcpp::ok())
  {
        qDebug() << "ROS2 started successfully!";
        ui->status_lineEdit->setText("ROS2 is running...");

            ros2Publisher = new ROS2Publisher(ros2NodeP, topic);
    qDebug() << "ROS2 Publisher created successfully!";

            ros2Subscriber = new ROS2Subscriber(ros2NodeS, topic);
    qDebug() << "ROS2 Subscriber created successfully!";

     }
 else
    ui->status_lineEdit->setText("ROS2 NOT running");

         connect(ros2Subscriber, SIGNAL(newROS2Msg(double)), this, SLOT(readValue(double)));
         exec = rclcpp::executors::SingleThreadedExecutor::make_shared();
         exec->add_node(ros2NodeP);
         exec->add_node(ros2NodeS);
     int i=0;

     for (i=0;i<50;i++) 
     {
             ros2Publisher->publishMessage(value);
             Sleeper::msleep(10); //In order to wait some time that messages arrive
     exec->spin_once();
      }

rclcpp::shutdown();
}

Doing some tests, I could identify that the debugger "crashes" or doesn't work properly when it reaches the line code "ros2NodeP = rclcpp::Node::make_shared("StandAlonePub");" with the following error at this Macro definition "RCLCPP_SMART_PTR_DEFINITIONS(Node)" in the node.hpp file.

  Unhandled exception at 0x00007FFBE3BE50D8 in TestNode.exe: Microsoft C ++ exception: 
  rclcpp::exceptions::InvalidNodeNameError at location 0x0000007A069F9030.

My question is this one: How can a ROS2 Project/Code be correctly debugged with an IDE like Visual Studio or QtCreator? Maybe I've been doing it the wrong way. Are there some other steps required to do so?

I would really appreciate your help.

Note: The rclcpp repository is correctly linked. An easier way to test that the debugger doesn't work is just writing a simple code with the line that causes problem. "rclcpp::Node::make_shared("StandAlonePub");"