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Hi, I find a method to debug a C++ node usign VSCode on ROS2 Foxy (Ubuntu). Have a look and told me if it work for you.

https://gist.github.com/JADC362/a4425c2d05cdaadaaa71b697b674425f

Hi, I find a method to debug a C++ node usign VSCode on ROS2 Foxy (Ubuntu). Have a look and told me if it work works for you.

https://gist.github.com/JADC362/a4425c2d05cdaadaaa71b697b674425f

Hi, I find a method to debug a C++ node usign VSCode on ROS2 Foxy (Ubuntu). Have a look

1) Compile your C++ package with the symbols:

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

2) Run the GDB Server in a localhost:port

ros2 run --prefix 'gdbserver localhost:3000' package_name executable_name

3) Open VSCode on your workspace, open the debug section (side bar) and told me if it works create new launch.json configuration file for you.

debugging. Configure as follow:

    {
    "version": "0.2.0",
    "configurations": [
        {
            "name": "C++ Debugger",
            "request": "launch",
            "type": "cppdbg",
            "miDebuggerServerAddress": "localhost:3000",
            "cwd": "/",
            "program": "[build-path-executable]"
        }
    ]
}

Change [build-path-executable] by your executable build file. You can find this path on the console when you launch the server.

4) Run the debugger and use VSCode to debug your code.

Here is a more detail explanation https://gist.github.com/JADC362/a4425c2d05cdaadaaa71b697b674425f