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Configuring VSCode for ROS & C++

Download Plugins

Install the following extensions as detailed here

  1. C/C++
  2. CMake
  3. ROS
  4. Clang Format bash sudo apt-get install clang-format Also, go to the settings by typing ‘Ctrl + ,’ and search for ‘editor.formatOnSave’ and set it to true. Otherwise the files need to be formatted with manual commands.
  5. vscode-icons

Setup Intellisense

  1. If you haven't already, navigate to File > Open Folder and open the top-level catkin workspace or a ROS package.
  2. Navigate to File > Save Workspace As... and save (this is just to generate the .vscode folder and can be removed later).
  3. Expand the .vscode folder and open c_cpp_properties.json and paste the following after the browse element, but before the includePath element. Be wary of missing commas.
"defines": [],
"compilerPath": "/usr/bin/gcc",
"cStandard": "gnu17",
"cppStandard": "c++14",
"intelliSenseMode": "gcc-x64",
  1. The file should look similar to this (except auto-populated with the packages in your workspace)

c_cpp_properties.json

{
  "configurations": [
    {
      "browse": {
        "databaseFilename": "",
        "limitSymbolsToIncludedHeaders": false
      },
      "name": "ROS",
      "defines": [],
      "compilerPath": "/usr/bin/gcc",
      "cStandard": "gnu17",
      "cppStandard": "c++14",
      "intelliSenseMode": "gcc-x64",
      "includePath": [
        "~/pcl_ws/devel/include/**",
        "/opt/ros/melodic/include/**",
        "/opt/ros/melodic/include/**/**",
        "/opt/ros/melodic/share/fetch_gazebo/include/**",
        "/opt/ros/melodic/share/julius/include/**",
        "~/catkin_ws/src/pkg2/include/**",
        "~/catkin_ws/src/pkg1/include/**",
        "/usr/include/**"/**
      ]
    }
  ],
  "version": 4
}

Configure Build, Clean and Run Tasks

  1. Press Ctrl + N to open a new file, paste the code below. Then Ctrl + S to save the file, naming it tasks.json. Be sure to save it in the same .vscode folder alongside the previous c_cpp_properties.json

tasks.json

{
    "version": "2.0.0",
    "tasks": [
        {
            "type": "catkin",
            "args": [
                "build",
                "--force-cmake",
                "--continue"
            ],
            "problemMatcher": [
                "$catkin-gcc"
            ],
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "label": "catkin: build all",
            "options": {
                "cwd": "${fileDirname}"
            }
        },
        {
            "label": "example_launch",
            "type": "shell",
            "command": "roslaunch example_pkg example.launch",
            "problemMatcher": [],
            "group": {
                "kind": "test",
                "isDefault": true
            }
        },
        {
            "label": "catkin clean",
            "type": "shell",
            "command": "catkin clean --all-profiles"
        }
    ]
}
  1. Your .vscode folder should now look similar to this
.vscode/
├── c_cpp_properties.json
├── tasks.json
└── workspace.code-workspace
  1. Confirm the tasks were specified by using Ctrl + Shift + B to run the catkin build task that was just made

Ref: https://samarth-robo.github.io/blog/2020/12/03/vscode_ros.html ms-iot/vscode-ros#114 (comment)