Debugger with ROS2 and C++

https://gist.github.com/JADC362/a4425c2d05cdaadaaa71b697b674425f

Compile the code with the correct flag so you can add breakpoints in VSCode

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

Launch GDB server, with the correct package name and executable

ros2 run --prefix 'gdbserver localhost:3000' package_name executable_name

Add the following Launch.json file

    {
        "version": "0.2.0",
        "configurations": [
            {
                "name": "C++ Debugger",
                "request": "launch",
                "type": "cppdbg",
                "miDebuggerServerAddress": "localhost:3000",
                "cwd": "/",
                "program": "[build-path-executable]"
            }
        ]
    }

Where

• name - Custom name of your debugger configuration
• request - In this case we want to launch the client
• type - cppdbg for c++ debugging
• miDebuggerServerAddress - path_server:port
• cwd - Where to find all the required files. We use root because ROS, the package, and other required files are distributed along the entire PC.
• program - Change [build-path-executable] by your executable build file. You can find this path on the console when you launch the server.