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your method works on vscode too. Thank you very much!

the launch file in vscode is like

json { "name": "zs: gdbrun ros2", "type": "cppdbg", "request": "launch", "program": "/usr/bin/python3", "args": [ "/opt/ros/foxy/bin/ros2", "topic", "echo", "/tf_static" ], "stopAtEntry": false, "cwd": "${workspaceRoot}", "environment": [ { "name": "RMW_IMPLEMENTATION", // "value": "rmw_fastrtps_cpp" // "value": "rmw_ecal_proto_cpp" "value": "rmw_iceoryx_cpp" } ], "externalConsole": false, // "preLaunchTask": "source_ros2_ws", "MIMode": "gdb", "setupCommands": [ { "description": "Enable pretty-printing for gdb", "text": "-enable-pretty-printing", "ignoreFailures": true } ] },