8000 Support 'launch only', and 'debug only' attributes for launching a ROS composition by ooeygui · Pull Request #605 · ms-iot/vscode-ros · GitHub
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Support 'launch only', and 'debug only' attributes for launching a ROS composition #605

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Merged
merged 4 commits into from
Nov 23, 2021
Merged

Support 'launch only', and 'debug only' attributes for launching a ROS composition #605

merged 4 commits into from
Nov 23, 2021

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ooeygui
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@ooeygui ooeygui commented Nov 13, 2021

This change introduces a new feature to filter what the debugger attaches to, or just launches.
For example, Debugging ROS2, but not attaching to a rviz or gazebo would look something like the attached launch.json file.

    "configurations": [
        {
            "name": "ROS: Launch my file",
            "request": "launch",
            "target": "C:\\ws\\nav2_ws\\src\\turtlebot3\\turtlebot3_simulations\\turtlebot3_gazebo\\launch\\turtlebot3_world.launch.py",
            "arguments": [
                "use_sim_time:=False",
                "autostart:=False",
                "map:=c:\\ws\\nav2_ws\\map.yaml",
            ],
            "sourceFileMap": {
                "c:\\a\\1\\s\\ws\\src": "c:\\ws\\navigation2_ws\\src"
            },
            "env": {
                "TURTLEBOT3_MODEL":"waffle",
                "GAZEBO_MODEL_PATH": "C:\\ws\\nav2_ws\\install\\turtlebot3_gazebo\\share\\turtlebot3_gazebo\\models;C:\\opt\\ros\\foxy\\x64\\share\\gazebo-10\\models;"
            },
            "launch": ["rviz", "gz", "gzserver", "gzclient"],
            "symbolSearchPath": "s:\\Downloads\\Symbols (4)\\RelWithDebInfo",
            "type": "ros"
        }
    ]
}

Similarly if you only wanted to debug a single node in a composition:

            "attachDebugger": ["map_server"],

Note: VSCode does not track launched ROS nodes, so they have to be manually stopped.

@ooeygui ooeygui marked this pull request as ready for review November 13, 2021 18:05
@ooeygui ooeygui requested a review from a team as a code owner November 13, 2021 18:05
This was referenced Nov 13, 2021
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@ooeygui ooeygui merged commit 607024f into ms-iot:master Nov 23, 2021
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@lilustga lilustga lilustga approved these changes

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