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You can use this configuration (this can be generated using ROS extension for VSCode). You can then debug all nodes that are present in the launch file. Also remember to build with debug & have workspace as a project root directory in VSCode.

colcon build --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

```

"launch": {
        "version": "0.2.0",
        "configurations": [
        {
            "name": "ROS: Launch",
            "type": "ros",
            "request": "launch",
            "target": "absolute_path_to_the_launch_file",
            "args": ["argument1:=arg1", "argument2:=arg2"]
        }
        ]
    }