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I am new to ROS and trying to set up the develop environment for myself and the team. I think all ros nodes are just started by the ros framework and run as normal executable, so if we switch the context and change the question to "how to I debug any running C++ executable" and start searching using that keywords, you will be able to find tutorials.

I wrote a blog post and uploaded a project on github, see if it helps

https://github.com/weihangChen/ros_debug_vscode/blob/master/README.md

https://medium.com/@weihang.che/ros-node-debugging-b76fc38ba70b