[SOLVED] ROS2 + VSCode IntelliSense + multiple ROS2 packages

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Hello, I am trying to set up IntelliSense static analysis for ROS2 using VSCode.

To set up VSCode I followed this excellent guide from Allison Thackston.

SYMPTOMS

If I have a single package, everything works fine. But if I have two packages, one for interfaces and one for business logic, the VSCode static analysis tool (IntelliSense) gives me many errors (more about it later).

Please notice that when using the ROS2 command line interface everything compiles fine. I can run and debug the core package correctly. However, in the editor, IntelliSense reports many errors and I cannot get IntelliSense to do proper autocompletion, jump-to-definition, etc…

This is the structure of the project with two packages (interface and core)

test |-> src
    |-> interface
        |-> CMakeLists.txt
        |-> package.xml
        |-> msg
            |-> Interface1.msg
            |-> Interface2.msg
            ...
    |-> core
        |-> CMakeLists.txt
        |-> package.xml
        |-> src
            |-> node1.cpp
            |-> node2.cpp
            ...

where the core package depends on the interface package.

DIAGNOSIS

The root of the problem is this line in test/core/CMakeLists.txt:

find_package(interface REQUIRED)

because the “CMake Tools” extension cannot find the interface package.

INFO

I created the CMakeLists.txt file as explained in the ROS2 documentation here.

This is a part of my .vscode/settings.json:

{
    "cmake.sourceDirectory": [
        "${workspaceFolder}/src/interface",
        "${workspaceFolder}/src/core"
    ],
    "cmake.buildDirectory": "${sourceDirectory}/build/${buildType}",
}

• ROS2 version: Humble
• VSCode version: 1.75.3
• CMake Tools version: v1.13.38 (Pre-Release)