前置条件： 安装好 C++ ROS2 CMAKE插件

1、settings.json  +  c_cpp_properties.json文件 

实现：（可以查看/跳进库函数）

    "cmake.buildDirectory": "build",
    "cmake.generator": "Unix Makefiles",
    "cmake.configureSettings": {
        "CMAKE_C_COMPILER": "/usr/bin/gcc",
        "CMAKE_CXX_COMPILER": "/usr/bin/g++"
    }

+

{
    "configurations": [
        {
            "name": "ROS",
            "includePath": [
                "${workspaceFolder}/**",
                "/opt/ros/humble/include",
                "/home/dong/ws_moveit/install"
            ],
            "intelliSenseMode": "gcc-x64",
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "gnu11",
            "cppStandard": "gnu++14"
        }
    ],
    "version": 4
}

2、launch.json

实现： 可以打断点调试

{
    "version": "0.2.0",
    "configurations": [
      {
        "name": "Debug moveit_plan_grpc node",
        "type": "cppdbg",
        "request": "launch",
        "program": "/home/dong/ws_moveit/install/moveit_plan_grpc/lib/moveit_plan_grpc/robot_server_node",
        "args": [],
        "cwd": "/home/dong/ws_moveit",
        "stopAtEntry": false,
        "environment": [],
        "MIMode": "gdb",
        "setupCommands": [
          {
            "description": "Enable pretty printing for STL containers",
            "text": "-enable-pretty-printing",
            "ignoreFailures": true
          }
        ]
      }
    ]
  }