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VScode ROS文件相关配置

ai 2025/8/20 20:55:37

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设置编译快捷键：ctral + shit + B 选择 catkin_make.build

进行配置使不需要每次选择，而是进行 ctrol+shit+B 则自动编译。

{"version": "2.0.0","tasks": [{"type": "catkin_make","args": ["--directory","/home/lihongli/catkin_ws","-DCMAKE_BUILD_TYPE=RelWithDebInfo"],"problemMatcher": ["$catkin-gcc"],"group": "build","label": "catkin_make: build"}]
}

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{"version": "2.0.0","tasks": [{"type": "catkin_make","args": ["--directory","/home/lihongli/catkin_ws","-DCMAKE_BUILD_TYPE=RelWithDebInfo"],"problemMatcher": ["$catkin-gcc"],"group": {"kind":"build","isDefault": true},"label": "catkin_make: build"}]
}

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如果源码文件包含的头文件报错，下划线波浪好，则将该文件删除，然后重启VScode,等待ros重新加载，随后该文件又出现就好了。
下载git开源代码:https://github.com/6-robot/wpr_simulation.git，网络连接不通，直接下载好压缩包，在对应文件目录中解压。随后通过脚本安装编译需要的依赖库。
随后在catkin_ws 工作空间目录中运行catkin_make进行编译

lihongli@lhl:~/catkin_ws/src$ git clone https://github.com/6-robot/wpr_simulation.git
正克隆到 'wpr_simulation'...
fatal: 无法访问 'https://github.com/6-robot/wpr_simulation.git/'：Failed to connect to github.com port 443: 连接超时
lihongli@lhl:~/catkin_ws/src$ ping github
ping: github: 域名解析暂时失败
lihongli@lhl:~/catkin_ws/src$ pwd
/home/lihongli/catkin_ws/src
lihongli@lhl:~/catkin_ws/src$ ls
CMakeLists.txt  test_pkg      workspace.zip
learning_topic  truck_ws.zip  wpr_simulation-master.zip
lihongli@lhl:~/catkin_ws/src$ unzip wpr_simulation-master.zip

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启动示例程序仿真端

ihongli@lhl:~/catkin_ws$ source ~/catkin_ws/devel/setup.bash     
lihongli@lhl:~/catkin_ws$ roslaunch wpr_simulation wpb_simple.launch
... logging to /home/lihongli/.ros/log/76f65c40-7cd7-11f0-ad7c-1be29ce82f48/roslaunch-lhl-23006.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt

启动控制端

lihongli@lhl:~$ rosrun rqt_robot_steering rqt_robot_steering

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下载小海龟项目：下载、切换ros1版本、回工作空间编译。
随后 roscore启动ros1,然后rosrun turtlesim turtlesim_node
启动小乌龟。

lihongli@lhl:~/catkin_ws/src$ git clone https://github.com/ros/ros_tutorials.git
正克隆到 'ros_tutorials'...
remote: Enumerating objects: 3179, done.
remote: Counting objects: 100% (149/149), done.
remote: Compressing objects: 100% (66/66), done.
remote: Total 3179 (delta 106), reused 91 (delta 83), pack-reused 3030 (from 2)
接收对象中: 100% (3179/3179), 735.95 KiB | 502.00 KiB/s, 完成.
处理 delta 中: 100% (1921/1921), 完成.
lihongli@lhl:~/catkin_ws/src$ cd ros_tutorials/
lihongli@lhl:~/catkin_ws/src/ros_tutorials$ git che
checkout      cherry        cherry-pick   
lihongli@lhl:~/catkin_ws/src/ros_tutorials$ git checkout noetic-devel 
分支 'noetic-devel' 设置为跟踪来自 'origin' 的远程分支 'noetic-devel'。
切换到一个新分支 'noetic-devel'
lihongli@lhl:~/catkin_ws/src/ros_tutorials$ 
lihongli@lhl:~/catkin_ws$ catkin_make