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In addition to clyde answer:
1- Open VSCode and (Ctrl+Shift+X) and search for ROS
2- Install ( ROS VSCode Extension )
3- Restart VSCode
4- Make sure to open your workspace ex: file ->openfolder ->catkin_ws
5- The extension will pop up a msg to configure your ROS distro if it cants configure it automatically
6- Also you can use the terminal from VSCode (Ctrl+~) as usual ubuntu terminal
7- Build your catkin workspace at least once from this terminal
8- You can include <ros/ros.h> in your files and you shouldn't see green squiggle below
if everything is configured properly.
9- At the left bottom of VSCode you will find [x ROS Master] that's mean ROS core is not running try to run $ roscore from the terminal in VSCode and notice [✔ ROS Master]
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