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In your .vscode/c_cpp_properties.json

{
"configurations": [
    {
        "name": "Linux",
        "includePath": [
            "${workspaceFolder}/**",
            "/opt/ros/noetic/include"
        ],
        "defines": [],
        "compilerPath": "/usr/bin/gcc",
        "cStandard": "gnu11",
        "cppStandard": "c++11",
        "intelliSenseMode": "linux-gcc-x64"
    }
],
"version": 4
}

in your .vscode/settings.json for autocomplete python

{
"editor.tabSize": 4,
"ros.distro": "noetic",
"ros.rosSetupScript": "/opt/ros/noetic/setup.bash",

"python.autoComplete.extraPaths": [
    "/opt/ros/noetic/lib/python3/dist-packages"
],
}