{"id":106369,"date":"2026-09-17T09:32:41","date_gmt":"2026-09-17T01:32:41","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/106369.html"},"modified":"2026-09-17T09:32:41","modified_gmt":"2026-09-17T01:32:41","slug":"ros%e6%95%99%e7%a8%8b04%ef%bc%9a%e4%bd%bf%e7%94%a8-vs-code-remote-ssh-%e4%b8%8e-dev-container-%e5%bb%ba%e7%ab%8b-ros1-%e5%bc%80%e5%8f%91%e5%b7%a5%e4%bd%9c%e6%b5%81","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/106369.html","title":{"rendered":"ROS\u6559\u7a0b04\uff1a\u4f7f\u7528 VS Code Remote-SSH \u4e0e Dev Container \u5efa\u7acb ROS1 \u5f00\u53d1\u5de5\u4f5c\u6d41"},"content":{"rendered":"<h2>04&#xff1a;\u4f7f\u7528 VS Code Remote-SSH \u4e0e Dev Container \u5efa\u7acb ROS1 \u5f00\u53d1\u5de5\u4f5c\u6d41<\/h2>\n<p>\u6458\u8981&#xff1a;\u8fd9\u4e00\u7ae0\u4e0d\u628a VS Code \u5f53\u6210\u201c\u88c5\u51e0\u4e2a\u63d2\u4ef6\u5c31\u7ed3\u675f\u201d\u3002\u6211\u4eec\u4f1a\u5148\u786e\u5b9a IDE \u5230\u5e95\u8fd0\u884c\u5728\u54ea\u4e00\u5c42&#xff0c;\u518d\u5efa\u7acb\u4e24\u5957\u4e92\u8865\u5de5\u4f5c\u6d41&#xff1a;Remote-SSH Host \u8d1f\u8d23\u65e5\u5e38\u7f16\u8f91\u3001Git\u3001Docker \u548c Host\u2192Container GDB&#xff1b;Dev Container \u8d1f\u8d23\u6700\u51c6\u786e\u7684 ROS1 C&#043;&#043; IntelliSense\u3001\/opt\/ros\/noetic \u6d4f\u89c8\u548c Container \u5185\u8c03\u8bd5\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260917013239-6aab433733b00.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<\/p>\n<h4>\u6587\u7ae0\u76ee\u5f55<\/h4>\n<ul>\n<li>04&#xff1a;\u4f7f\u7528 VS Code Remote-SSH \u4e0e Dev Container \u5efa\u7acb ROS1 \u5f00\u53d1\u5de5\u4f5c\u6d41<\/li>\n<li>\n<ul>\n<li>\u672c\u7ae0\u76ee\u6807<\/li>\n<li>\u4e3a\u4ec0\u4e48\u5148\u786e\u5b9a\u201cVS Code \u5728\u54ea\u4e00\u5c42\u201d<\/li>\n<li>Step 1&#xff1a;\u628a\u6574\u4e2a\u4ed3\u5e93\u4f5c\u4e3a Remote-SSH Workspace \u6253\u5f00<\/li>\n<li>\n<ul>\n<li>\u68c0\u67e5\u70b9<\/li>\n<\/ul>\n<\/li>\n<li>Step 2&#xff1a;\u5b89\u88c5 Host \u4fa7\u57fa\u7840\u6269\u5c55<\/li>\n<li>Step 3&#xff1a;\u666e\u901a Host Terminal \u4e0e ROS Container Terminal \u4e0d\u8981\u6df7<\/li>\n<li>\n<ul>\n<li>\u8fd9\u4e2a Profile \u672c\u8d28\u4e0a\u662f\u4ec0\u4e48<\/li>\n<li>\u4e3a\u4ec0\u4e48\u4f7f\u7528 &#096;&#8211;project-directory&#096;<\/li>\n<\/ul>\n<\/li>\n<li>Step 4&#xff1a;\u7528 Container Tools \u770b\u201cContainer \u91cc\u771f\u5b9e\u5b58\u5728\u7684\u6587\u4ef6\u201d<\/li>\n<li>Step 5&#xff1a;\u7406\u89e3 Reopen in Container<\/li>\n<li>Step 6&#xff1a;\u4e3a\u4ec0\u4e48 Dev Container \u6839\u76ee\u5f55\u4ecd\u7136\u662f &#096;\/workspace&#096;<\/li>\n<li>Step 7&#xff1a;\u7406\u89e3 &#096;.devcontainer\/ros_env.bash&#096;<\/li>\n<li>Step 8&#xff1a;\u5148\u7406\u89e3 Host IntelliSense \u7684\u8fb9\u754c<\/li>\n<li>Step 9&#xff1a;\u9605\u8bfb &#096;c_cpp_properties.json&#096;<\/li>\n<li>Step 10&#xff1a;\u7406\u89e3\u56db\u7ec4 ROS include path<\/li>\n<li>\n<ul>\n<li>10.1 &#096;ros_ws\/src\/**&#096;<\/li>\n<li>10.2 &#096;ros_ws\/devel\/include&#096; \u4e0e &#096;\/**&#096;<\/li>\n<li>10.3 roscpp \u7cbe\u786e include root<\/li>\n<li>10.4 &#096;ros_debug_ws\/src\/**&#096;<\/li>\n<li>10.5 &#096;ros_debug_ws\/devel\/include&#096;<\/li>\n<\/ul>\n<\/li>\n<li>Step 11&#xff1a;\u7b2c\u4e00\u6b21\u505a F12 \u524d&#xff0c;\u5148\u51c6\u5907 roscpp \u6e90\u7801<\/li>\n<li>Step 12&#xff1a;\u4f7f\u7528 &#096;C\/C&#043;&#043;: Log Diagnostics&#096; \u770b\u4e8b\u5b9e<\/li>\n<li>Step 13&#xff1a;\u7406\u89e3 Reset\u3001Rescan \u548c Reload \u7684\u533a\u522b<\/li>\n<li>Step 14&#xff1a;Remote-SSH Host F5 \u7684\u603b\u4f53\u7ed3\u6784<\/li>\n<li>Step 15&#xff1a;Reopen in Container \u540e F5 \u4e3a\u4ec0\u4e48\u66f4\u7b80\u5355<\/li>\n<li>\u672c\u7ae0\u5e38\u89c1\u95ee\u9898<\/li>\n<li>\n<ul>\n<li>VS Code \u80fd\u641c\u7d22\u5230 &#096;ros.h&#096;&#xff0c;\u4f46 &#096;#include &lt;ros\/ros.h&gt;&#096; F12 \u4e0d\u8df3<\/li>\n<li>Host \u4e0a &#096;\/opt\/ros\/noetic\/include&#096; \u4e0d\u5b58\u5728<\/li>\n<li>ROS1 \u63d2\u4ef6\u80fd\u7528\u73af\u5883&#xff0c;\u4f46\u68c0\u6d4b\u4e0d\u5230 catkin workspace<\/li>\n<\/ul>\n<\/li>\n<li>\u672c\u7ae0\u7ec3\u4e60<\/li>\n<li>\u53c2\u8003\u8d44\u6599<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h3>\u672c\u7ae0\u76ee\u6807<\/h3>\n<p>\u5b8c\u6210\u672c\u7ae0\u540e&#xff0c;\u4f60\u5e94\u8be5\u80fd\u591f&#xff1a;<\/p>\n<li>\u89e3\u91ca Windows VS Code\u3001Remote-SSH Host\u3001Docker Container \u4e09\u5c42\u5173\u7cfb&#xff1b;<\/li>\n<li>\u77e5\u9053 VS Code Extension Host \u5728\u4e0d\u540c\u6a21\u5f0f\u4e0b\u8fd0\u884c\u5728\u54ea\u91cc&#xff1b;<\/li>\n<li>\u4f1a\u4f7f\u7528 ROS1 Container Bash Terminal Profile&#xff1b;<\/li>\n<li>\u4f1a\u4f7f\u7528 Container Tools \u67e5\u770b Container \u6587\u4ef6&#xff1b;<\/li>\n<li>\u4f1a Reopen in Container&#xff0c;\u5e76\u7406\u89e3\u5b83\u4e0e\u666e\u901a docker exec \u7684\u533a\u522b&#xff1b;<\/li>\n<li>\u7406\u89e3\u4e3a\u4ec0\u4e48 VS Code \u6839\u76ee\u5f55\u4fdd\u6301 \/workspace&#xff1b;<\/li>\n<li>\u7406\u89e3 .vscode\/c_cpp_properties.json \u4e2d\u5404\u7c7b include path \u7684\u4f5c\u7528&#xff1b;<\/li>\n<li>\u4f1a\u4f7f\u7528 C\/C&#043;&#043;: Log Diagnostics \u5224\u65ad IntelliSense \u5b9e\u9645\u52a0\u8f7d\u4e86\u4ec0\u4e48\u3002<\/li>\n<h3>\u4e3a\u4ec0\u4e48\u5148\u786e\u5b9a\u201cVS Code \u5728\u54ea\u4e00\u5c42\u201d<\/h3>\n<p>\u5f53\u524d\u73af\u5883\u4e0d\u662f\u4e00\u4e2a\u5355\u5c42 Linux \u684c\u9762&#xff0c;\u800c\u662f&#xff1a;<\/p>\n<p>Windows<br \/>\n   |<br \/>\n   | VS Code Remote-SSH<br \/>\n   v<br \/>\nUbuntu 24.04 Host<br \/>\n   |<br \/>\n   | Docker<br \/>\n   v<br \/>\nros1-dev Container<br \/>\nUbuntu 20.04 &#043; ROS1 Noetic<\/p>\n<p>\u5982\u679c\u4e0d\u5148\u5206\u6e05\u8fd9\u4e09\u5c42&#xff0c;\u5c31\u5f88\u5bb9\u6613\u4ea7\u751f\u4e0b\u9762\u7684\u8bef\u89e3&#xff1a;<\/p>\n<p>\u201cContainer \u91cc\u660e\u660e\u6709 \/opt\/ros\/noetic&#xff0c;\u4e3a\u4ec0\u4e48 F12 \u627e\u4e0d\u5230&#xff1f;\u201d<\/p>\n<p>\u201cHost F5 \u4e3a\u4ec0\u4e48\u80fd\u8c03 Container \u91cc\u7684\u7a0b\u5e8f&#xff1f;\u201d<\/p>\n<p>\u201c\u666e\u901a VS Code Terminal \u548c Container Terminal \u4e3a\u4ec0\u4e48\u8def\u5f84\u4e0d\u4e00\u6837&#xff1f;\u201d<\/p>\n<p>\u7b54\u6848\u90fd\u53d6\u51b3\u4e8e&#xff1a;<\/p>\n<p>\u5f53\u524d VS Code Extension Host \u5728\u54ea\u91cc\u8fd0\u884c&#xff1f;<\/p>\n<hr \/>\n<h3>Step 1&#xff1a;\u628a\u6574\u4e2a\u4ed3\u5e93\u4f5c\u4e3a Remote-SSH Workspace \u6253\u5f00<\/h3>\n<p>\u63a8\u8350\u4e3b\u5de5\u4f5c\u65b9\u5f0f&#xff1a;<\/p>\n<p>Windows VS Code<br \/>\n    \u2193 Remote-SSH<br \/>\nUbuntu 24.04 Host<br \/>\n    \u2193 \u6253\u5f00<br \/>\n\/home\/wdfk\/share\/ros1-docker<\/p>\n<p>\u4e0d\u8981\u53ea\u6253\u5f00&#xff1a;<\/p>\n<p>\/home\/wdfk\/share\/ros1-docker\/ros_ws<\/p>\n<p>\u56e0\u4e3a\u6574\u4e2a\u4ed3\u5e93\u91cc\u8fd8\u5305\u62ec&#xff1a;<\/p>\n<p>Dockerfile<br \/>\ncompose.yaml<br \/>\n.devcontainer\/<br \/>\n.vscode\/<br \/>\nros_debug_ws\/<\/p>\n<p>\u5b83\u4eec\u90fd\u662f\u5b8c\u6574\u5f00\u53d1\u73af\u5883\u7684\u4e00\u90e8\u5206\u3002<\/p>\n<h4>\u68c0\u67e5\u70b9<\/h4>\n<p>VS Code Explorer \u9876\u5c42\u5e94\u8be5\u80fd\u540c\u65f6\u770b\u5230&#xff1a;<\/p>\n<p>.devcontainer<br \/>\n.vscode<br \/>\nDockerfile<br \/>\ncompose.yaml<br \/>\ndocs<br \/>\nros_ws<br \/>\nros_debug_ws<\/p>\n<hr \/>\n<h3>Step 2&#xff1a;\u5b89\u88c5 Host \u4fa7\u57fa\u7840\u6269\u5c55<\/h3>\n<p>\u4ed3\u5e93\u7684&#xff1a;<\/p>\n<p>.vscode\/extensions.json<\/p>\n<p>\u63a8\u8350&#xff1a;<\/p>\n<p>ms-vscode.cpptools<br \/>\nms-azuretools.vscode-containers<br \/>\ndocker.docker<br \/>\nms-vscode-remote.remote-containers<\/p>\n<p>\u5b83\u4eec\u5206\u522b\u7528\u4e8e&#xff1a;<\/p>\n<p>C\/C&#043;&#043;<br \/>\n    \u2192 IntelliSense\u3001F12\u3001cppdbg\/GDB<\/p>\n<p>Container Tools<br \/>\n    \u2192 Container\/Image\/Volume\/Logs\/Files<\/p>\n<p>Docker DX<br \/>\n    \u2192 Dockerfile \/ Compose \u7f16\u8f91\u8f85\u52a9<\/p>\n<p>Dev Containers<br \/>\n    \u2192 Reopen in Container \/ Attach<\/p>\n<p>ROS1 \u4e13\u7528\u6269\u5c55\u653e\u5728 Dev Container \u914d\u7f6e\u4e2d&#xff1a;<\/p>\n<p>Ranch-Hand-Robotics.rde-ros-1<\/p>\n<p>\u8fd9\u6837 ROS \u63d2\u4ef6\u771f\u6b63\u8fd0\u884c\u5728\u6709 Noetic \u73af\u5883\u7684 Container Extension Host \u4e2d&#xff0c;\u800c\u4e0d\u662f\u5f3a\u8feb Ubuntu24 Host \u6a21\u62df\u5b8c\u6574 Noetic \u5b89\u88c5\u73af\u5883\u3002<\/p>\n<hr \/>\n<h3>Step 3&#xff1a;\u666e\u901a Host Terminal \u4e0e ROS Container Terminal \u4e0d\u8981\u6df7<\/h3>\n<p>Remote-SSH Host \u7a97\u53e3\u91cc\u65b0\u5efa\u666e\u901a\u7ec8\u7aef&#xff1a;<\/p>\n<p><span class=\"token builtin class-name\">pwd<\/span><\/p>\n<p>\u901a\u5e38\u5f97\u5230&#xff1a;<\/p>\n<p>\/home\/wdfk\/share\/ros1-docker<\/p>\n<p>\u8fd9\u662f Host shell\u3002<\/p>\n<p>\u4ed3\u5e93\u5728 .vscode\/settings.json \u4e2d\u5b9a\u4e49\u4e86\u53e6\u4e00\u4e2a Terminal Profile&#xff1a;<\/p>\n<p>ROS1 Container Bash<\/p>\n<p>\u5728 VS Code&#xff1a;<\/p>\n<p>Terminal<br \/>\n\u2192 New Terminal<br \/>\n\u2192 \u53f3\u4fa7\u4e0b\u62c9<br \/>\n\u2192 ROS1 Container Bash<\/p>\n<p>\u518d&#xff1a;<\/p>\n<p><span class=\"token builtin class-name\">pwd<\/span><\/p>\n<p>\u5e94\u8be5\u662f&#xff1a;<\/p>\n<p>\/workspace<\/p>\n<p>\u518d\u68c0\u67e5&#xff1a;<\/p>\n<p><span class=\"token builtin class-name\">echo<\/span> <span class=\"token string\">&#034;<span class=\"token variable\">$ROS_DISTRO<\/span>&#034;<\/span><\/p>\n<p>\u5e94\u8be5\u662f&#xff1a;<\/p>\n<p>noetic<\/p>\n<h4>\u8fd9\u4e2a Profile \u672c\u8d28\u4e0a\u662f\u4ec0\u4e48<\/h4>\n<p>\u914d\u7f6e\u6838\u5fc3\u7b49\u4ef7\u4e8e&#xff1a;<\/p>\n<p><span class=\"token function\">docker<\/span> compose <span class=\"token punctuation\">\\\\<\/span><br \/>\n    &#8211;project-directory <span class=\"token operator\">&lt;<\/span>workspace<span class=\"token operator\">&gt;<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n    <span class=\"token builtin class-name\">exec<\/span> ros1-dev <span class=\"token function\">bash<\/span><\/p>\n<p>\u5b83\u4e0d\u662f ROS \u63d2\u4ef6&#xff0c;\u4e5f\u4e0d\u662f\u65b0\u7684 shell \u7c7b\u578b&#xff0c;\u53ea\u662f VS Code \u5e2e\u4f60\u56fa\u5b9a\u4e86\u4e00\u6761 docker compose exec \u547d\u4ee4\u3002<\/p>\n<h4>\u4e3a\u4ec0\u4e48\u4f7f\u7528 &#8211;project-directory<\/h4>\n<p>\u8fd9\u6837 Compose \u59cb\u7ec8\u4ece\u6574\u4e2a\u4ed3\u5e93\u5bfb\u627e&#xff1a;<\/p>\n<p>compose.yaml<\/p>\n<p>\u4e0d\u4f9d\u8d56\u7ec8\u7aef\u5f53\u524d cwd\u3002<\/p>\n<p>\u56e0\u6b64\u4f60\u5373\u4f7f\u5728&#xff1a;<\/p>\n<p>ros_ws\/src\/ros1_hello<\/p>\n<p>\u6253\u5f00\u8fd9\u4e2a Profile&#xff0c;\u4e5f\u4e0d\u4f1a\u56e0\u4e3a\u5f53\u524d\u76ee\u5f55\u53d8\u5316\u800c\u627e\u4e0d\u5230 Compose \u9879\u76ee\u3002<\/p>\n<hr \/>\n<h3>Step 4&#xff1a;\u7528 Container Tools \u770b\u201cContainer \u91cc\u771f\u5b9e\u5b58\u5728\u7684\u6587\u4ef6\u201d<\/h3>\n<p>Container Tools \u9002\u5408\u56de\u7b54&#xff1a;<\/p>\n<p>ros1-dev \u662f\u5426\u8fd0\u884c&#xff1f;<\/p>\n<p>Image \u662f\u54ea\u4e2a&#xff1f;<\/p>\n<p>Container \u65e5\u5fd7\u662f\u4ec0\u4e48&#xff1f;<\/p>\n<p>\/opt\/ros\/noetic \u91cc\u5230\u5e95\u6709\u54ea\u4e9b\u6587\u4ef6&#xff1f;<\/p>\n<p>\u4f8b\u5982 Host Explorer \u5e76\u4e0d\u80fd\u76f4\u63a5\u628a&#xff1a;<\/p>\n<p>\/opt\/ros\/noetic<\/p>\n<p>\u5f53\u4f5c Host \u76ee\u5f55\u6d4f\u89c8&#xff0c;\u56e0\u4e3a\u5b83\u5c5e\u4e8e Container \u6587\u4ef6\u7cfb\u7edf\u3002<\/p>\n<p>\u6b64\u65f6\u53ef\u4ee5\u7528 Container Tools \u7684 Files \u529f\u80fd\u67e5\u770b&#xff1a;<\/p>\n<p>\/opt\/ros\/noetic\/include<br \/>\n\/opt\/ros\/noetic\/lib<br \/>\n\/ros_entrypoint.sh<br \/>\n\/usr\/include<\/p>\n<p>\u8fd9\u548c bind mount \u7684 \/workspace \u4e0d\u4e00\u6837\u3002<\/p>\n<p>\/workspace<br \/>\n    \u2192 Host \u6587\u4ef6\u6620\u5c04\u8fdb Container<\/p>\n<p>\/opt\/ros\/noetic<br \/>\n    \u2192 Container Image \u81ea\u5df1\u7684\u6587\u4ef6<\/p>\n<p>\u8fd9\u4e2a\u533a\u522b\u5bf9\u540e\u9762 F12 \u975e\u5e38\u91cd\u8981\u3002<\/p>\n<hr \/>\n<h3>Step 5&#xff1a;\u7406\u89e3 Reopen in Container<\/h3>\n<p>\u70b9\u51fb VS Code \u5de6\u4e0b\u89d2 Remote \u6307\u793a\u5668&#xff1a;<\/p>\n<p>Reopen in Container<\/p>\n<p>Dev Containers \u4f1a\u8bfb\u53d6&#xff1a;<\/p>\n<p>.devcontainer\/devcontainer.json<\/p>\n<p>\u6838\u5fc3\u914d\u7f6e&#xff1a;<\/p>\n<p>&#034;dockerComposeFile&#034;: &#034;..\/compose.yaml&#034;,<br \/>\n&#034;service&#034;: &#034;ros1-dev&#034;,<br \/>\n&#034;workspaceFolder&#034;: &#034;\/workspace&#034;,<br \/>\n&#034;remoteUser&#034;: &#034;dev&#034;<\/p>\n<p>\u8fd9\u4e0d\u662f\u91cd\u65b0\u590d\u5236\u4e00\u4efd\u4ee3\u7801\u3002<\/p>\n<p>\u56e0\u4e3a \/workspace \u5df2\u7ecf\u662f Host \u4ed3\u5e93 bind mount \u8fdb\u6765\u7684\u540c\u4e00\u4efd\u6587\u4ef6\u3002<\/p>\n<p>\u53d8\u5316\u7684\u662f&#xff1a;<\/p>\n<p>VS Code UI \u4ecd\u5728 Windows<\/p>\n<p>\u4f46 Extension Host\u3001Terminal\u3001cpptools\u3001ROS \u63d2\u4ef6<br \/>\n\u8fdb\u5165 ros1-dev Container<\/p>\n<p>\u56e0\u6b64\u6b64\u65f6 IntelliSense \u53ef\u4ee5\u76f4\u63a5\u8bbf\u95ee&#xff1a;<\/p>\n<p>\/opt\/ros\/noetic\/include<br \/>\n\/usr\/include<br \/>\n\/usr\/include\/c&#043;&#043;\/9<\/p>\n<p>\u8fd9\u5c31\u662f Dev Container \u6a21\u5f0f\u6bd4 Host \u6a21\u5f0f\u66f4\u63a5\u8fd1\u771f\u5b9e\u7f16\u8bd1\u73af\u5883\u7684\u539f\u56e0\u3002<\/p>\n<hr \/>\n<h3>Step 6&#xff1a;\u4e3a\u4ec0\u4e48 Dev Container \u6839\u76ee\u5f55\u4ecd\u7136\u662f \/workspace<\/h3>\n<p>devcontainer.json \u4e2d&#xff1a;<\/p>\n<p>&#034;workspaceFolder&#034;: &#034;\/workspace&#034;<\/p>\n<p>\u4e0d\u8981\u6539\u6210&#xff1a;<\/p>\n<p>\/workspace\/ros_ws<\/p>\n<p>\u56e0\u4e3a\u4f60\u9700\u8981\u540c\u65f6\u770b\u5230&#xff1a;<\/p>\n<p>\/workspace\/ros_ws<br \/>\n\/workspace\/ros_debug_ws<br \/>\n\/workspace\/.vscode<br \/>\n\/workspace\/.devcontainer<br \/>\n\/workspace\/compose.yaml<\/p>\n<p>\u540e\u9762\u9605\u8bfb roscpp \u6e90\u7801\u65f6&#xff0c;\u4e1a\u52a1\u4ee3\u7801\u548c\u4e0a\u6e38\u6e90\u7801\u4f1a\u540c\u65f6\u53c2\u4e0e\u5bfc\u822a\u548c\u8c03\u8bd5\u3002<\/p>\n<p>\u4ee3\u4ef7\u662f&#xff1a;\u67d0\u4e9b ROS \u63d2\u4ef6\u53ea\u4f1a\u628a\u201cVS Code \u6839\u76ee\u5f55\u201d\u5f53\u4f5c catkin workspace \u68c0\u6d4b\u76ee\u6807\u3002<\/p>\n<p>\u5f53\u524d\u6839\u76ee\u5f55\u662f&#xff1a;<\/p>\n<p>\/workspace<\/p>\n<p>\u800c\u771f\u6b63\u7684 catkin workspace \u662f&#xff1a;<\/p>\n<p>\/workspace\/ros_ws<\/p>\n<p>\u6240\u4ee5\u63d2\u4ef6\u53ef\u80fd\u663e\u793a&#xff1a;<\/p>\n<p>Build tool NOT detected<\/p>\n<p>\u8fd9\u4e0d\u7b49\u4e8e ROS \u73af\u5883\u574f\u4e86\u3002<\/p>\n<p>\u672c\u5de5\u7a0b\u5bf9\u6784\u5efa\u4f7f\u7528\u663e\u5f0f Task&#xff1a;<\/p>\n<p>ROS1 [DEV CONTAINER]: Build ros1_hello<\/p>\n<p>\u8ba9\u4efb\u52a1\u660e\u786e cd \/workspace\/ros_ws \u518d\u6267\u884c&#xff1a;<\/p>\n<p>catkin build ros1_hello<\/p>\n<hr \/>\n<h3>Step 7&#xff1a;\u7406\u89e3 .devcontainer\/ros_env.bash<\/h3>\n<p>\u6587\u4ef6\u5185\u5bb9\u5f88\u77ed&#xff1a;<\/p>\n<p><span class=\"token builtin class-name\">source<\/span> \/opt\/ros\/noetic\/setup.bash<\/p>\n<p><span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">[<\/span> <span class=\"token parameter variable\">-f<\/span> \/workspace\/ros_debug_ws\/devel\/setup.bash <span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token keyword\">then<\/span><br \/>\n    <span class=\"token builtin class-name\">source<\/span> \/workspace\/ros_debug_ws\/devel\/setup.bash<br \/>\n<span class=\"token keyword\">fi<\/span><\/p>\n<p><span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">[<\/span> <span class=\"token parameter variable\">-f<\/span> \/workspace\/ros_ws\/devel\/setup.bash <span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token keyword\">then<\/span><br \/>\n    <span class=\"token builtin class-name\">source<\/span> \/workspace\/ros_ws\/devel\/setup.bash<br \/>\n<span class=\"token keyword\">fi<\/span><\/p>\n<p>\u987a\u5e8f\u975e\u5e38\u91cd\u8981&#xff1a;<\/p>\n<p>Noetic underlay<br \/>\n    \u2193<br \/>\nros_debug_ws overlay<br \/>\n    \u2193<br \/>\nros_ws overlay<\/p>\n<p>\u6700\u7ec8\u4e1a\u52a1 workspace \u5728\u6700\u4e0a\u5c42\u3002<\/p>\n<p>\u4e3a\u4ec0\u4e48\u4e0d\u76f4\u63a5\u628a ROS \u63d2\u4ef6\u914d\u7f6e\u6210&#xff1a;<\/p>\n<p>\/workspace\/ros_ws\/devel\/setup.bash<\/p>\n<p>\u56e0\u4e3a\u7b2c\u4e00\u6b21\u6253\u5f00\u5de5\u7a0b\u65f6 ros_ws \u53ef\u80fd\u8fd8\u6ca1\u6784\u5efa&#xff0c;devel\/setup.bash \u8fd8\u4e0d\u5b58\u5728\u3002<\/p>\n<p>\u800c ros_env.bash \u53ef\u4ee5&#xff1a;<\/p>\n<p>\u6709 overlay \u5c31 source<br \/>\n\u6ca1\u6709\u5c31\u8df3\u8fc7<\/p>\n<p>\u6240\u4ee5\u5b83\u662f\u7a33\u5b9a\u5165\u53e3\u3002<\/p>\n<hr \/>\n<h3>Step 8&#xff1a;\u5148\u7406\u89e3 Host IntelliSense \u7684\u8fb9\u754c<\/h3>\n<p>\u56de\u5230 Remote-SSH Host \u7a97\u53e3\u3002<\/p>\n<p>\u6b64\u65f6 ms-vscode.cpptools \u8fd0\u884c\u5728&#xff1a;<\/p>\n<p>Ubuntu 24.04 Host<\/p>\n<p>\u800c\u4e0d\u662f Container\u3002<\/p>\n<p>\u56e0\u6b64&#xff1a;<\/p>\n<p>Host \u80fd\u76f4\u63a5\u8bbf\u95ee&#xff1a;<br \/>\n\/home\/wdfk\/share\/ros1-docker\/&#8230;<br \/>\n\/usr\/include<br \/>\n\/usr\/bin\/g&#043;&#043;<\/p>\n<p>Host \u4e0d\u80fd\u76f4\u63a5\u8bbf\u95ee&#xff1a;<br \/>\n\/opt\/ros\/noetic<br \/>\nContainer \/usr\/include\/c&#043;&#043;\/9<\/p>\n<p>\u8fd9\u5c31\u662f\u4e3a\u4ec0\u4e48 Host IntelliSense \u9700\u8981&#xff1a;<\/p>\n<p>ros_debug_ws<\/p>\n<p>\u628a\u9700\u8981\u9605\u8bfb\u7684 ROS \u4e0a\u6e38\u6e90\u7801\u653e\u5230 Host \u53ef\u89c1\u7684 bind-mount \u76ee\u5f55\u4e2d\u3002<\/p>\n<hr \/>\n<h3>Step 9&#xff1a;\u9605\u8bfb c_cpp_properties.json<\/h3>\n<p>\u6253\u5f00&#xff1a;<\/p>\n<p>.vscode\/c_cpp_properties.json<\/p>\n<p>\u5148\u770b\u7f16\u8bd1\u5668&#xff1a;<\/p>\n<p>&#034;compilerPath&#034;: &#034;\/usr\/bin\/g&#043;&#043;&#034;<\/p>\n<p>\u5728 Remote-SSH Host \u4e2d&#xff0c;\u8fd9\u4e2a\u8def\u5f84\u6307\u7684\u662f&#xff1a;<\/p>\n<p>Ubuntu24 Host \u7684 g&#043;&#043;<\/p>\n<p>C\/C&#043;&#043; \u6269\u5c55\u4f1a\u8be2\u95ee\u5b83&#xff0c;\u5e76\u81ea\u52a8\u5f97\u5230 Host \u7cfb\u7edf include&#xff1a;<\/p>\n<p>\/usr\/include\/c&#043;&#043;\/&#8230;<br \/>\n\/usr\/include\/x86_64-linux-gnu<br \/>\n\/usr\/include<\/p>\n<p>\u6240\u4ee5\u4e0d\u8981\u624b\u5de5\u5806&#xff1a;<\/p>\n<p>&#034;\/usr\/include\/**&#034;,<br \/>\n&#034;\/usr\/include\/x86_64-linux-gnu\/**&#034;<\/p>\n<p>\u5982\u679c Boost \u5df2\u5b89\u88c5&#xff0c;Host g&#043;&#043; \u7684\u7cfb\u7edf include \u5c31\u5e94\u8be5\u80fd\u627e\u5230\u5b83\u3002<\/p>\n<hr \/>\n<h3>Step 10&#xff1a;\u7406\u89e3\u56db\u7ec4 ROS include path<\/h3>\n<p>\u914d\u7f6e\u4e2d\u6700\u91cd\u8981\u7684\u662f&#xff1a;<\/p>\n<p>&#034;includePath&#034;: [<br \/>\n    &#034;${workspaceFolder}\/ros_ws\/src\/**&#034;,<\/p>\n<p>    &#034;${workspaceFolder}\/ros_ws\/devel\/include&#034;,<br \/>\n    &#034;${workspaceFolder}\/ros_ws\/devel\/include\/**&#034;,<\/p>\n<p>    &#034;${workspaceFolder}\/ros_debug_ws\/src\/ros_comm\/clients\/roscpp\/include&#034;,<br \/>\n    &#034;${workspaceFolder}\/ros_debug_ws\/src\/**&#034;,<\/p>\n<p>    &#034;${workspaceFolder}\/ros_debug_ws\/devel\/include&#034;,<br \/>\n    &#034;${workspaceFolder}\/ros_debug_ws\/devel\/include\/**&#034;,<\/p>\n<p>    &#034;\/opt\/ros\/noetic\/include&#034;<br \/>\n]<\/p>\n<p>\u6309\u804c\u8d23\u7406\u89e3&#xff0c;\u4e0d\u8981\u6b7b\u8bb0\u8def\u5f84\u3002<\/p>\n<h4>10.1 ros_ws\/src\/**<\/h4>\n<p>\u81ea\u5df1\u7684 package \u6e90\u7801\u3002<\/p>\n<h4>10.2 ros_ws\/devel\/include \u4e0e \/**<\/h4>\n<p>\u81ea\u5df1\u7684 workspace \u751f\u6210 header&#xff0c;\u4f8b\u5982\u4ee5\u540e\u81ea\u5df1\u5b9a\u4e49 message \u540e\u4ea7\u751f\u7684&#xff1a;<\/p>\n<p>my_pkg\/MyMessage.h<\/p>\n<h4>10.3 roscpp \u7cbe\u786e include root<\/h4>\n<p>ros_debug_ws\/src\/ros_comm\/clients\/roscpp\/include<\/p>\n<p>\u8fd9\u662f\u4e00\u4e2a\u6807\u51c6 C\/C&#043;&#043; include root\u3002<\/p>\n<p>\u56e0\u4e3a&#xff1a;<\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;ros\/ros.h&gt;<\/span><\/span><\/p>\n<p>\u8981\u6c42\u7f16\u8bd1\u5668\/IntelliSense \u80fd\u627e\u5230&#xff1a;<\/p>\n<p>&lt;\u67d0\u4e2a include root&gt;\/ros\/ros.h<\/p>\n<p>\u5f53\u524d\u6e90\u7801\u5b9e\u9645\u4f4d\u7f6e&#xff1a;<\/p>\n<p>ros_comm\/clients\/roscpp\/include\/ros\/ros.h<\/p>\n<p>\u6240\u4ee5 include root \u5e94\u8be5\u662f\u5b83\u4e0a\u4e00\u7ea7&#xff1a;<\/p>\n<p>ros_comm\/clients\/roscpp\/include<\/p>\n<h4>10.4 ros_debug_ws\/src\/**<\/h4>\n<p>\u7528\u4e8e\u5e7f\u6cdb\u9012\u5f52\u7d22\u5f15\u5176\u5b83\u4e0a\u6e38\u6e90\u7801&#xff1a;<\/p>\n<p>roscpp_core<br \/>\nrosconsole<br \/>\nros_comm_msgs<br \/>\n&#8230;<\/p>\n<p>\u4f46\u8981\u6ce8\u610f&#xff1a;<\/p>\n<p>\u9012\u5f52\u7d22\u5f15\u8303\u56f4<\/p>\n<p>\u548c&#xff1a;<\/p>\n<p>C\/C&#043;&#043; \u7684\u7cbe\u786e include root<\/p>\n<p>\u4e0d\u662f\u5b8c\u5168\u76f8\u540c\u7684\u6982\u5ff5\u3002<\/p>\n<p>\u5728 Remote-SSH Host \u4e0b&#xff0c;src\/** \u53ef\u4ee5\u5e2e\u52a9 cpptools\u201c\u770b\u5230\u201d\u5f88\u591a\u6587\u4ef6&#xff0c;\u4f46 &lt;ros\/ros.h&gt; \u7684 F12 \u5bfc\u822a\u4ecd\u9700\u8981 roscpp \u771f\u5b9e include root \u624d\u7a33\u5b9a\u3002<\/p>\n<h4>10.5 ros_debug_ws\/devel\/include<\/h4>\n<p>\u7528\u4e8e catkin \u751f\u6210 header&#xff1a;<\/p>\n<p>ros\/common.h<br \/>\nstd_msgs\/String.h<br \/>\nrosgraph_msgs\/Clock.h<\/p>\n<p>\u7b2c 05\u300106 \u7bc7\u4f1a\u4e13\u95e8\u8bb2\u8fd9\u4e09\u7c7b header \u7684\u5dee\u5f02\u3002<\/p>\n<hr \/>\n<h3>Step 11&#xff1a;\u7b2c\u4e00\u6b21\u505a F12 \u524d&#xff0c;\u5148\u51c6\u5907 roscpp \u6e90\u7801<\/h3>\n<p>\u5982\u679c&#xff1a;<\/p>\n<p>ros_debug_ws\/src\/ros_comm<\/p>\n<p>\u8fd8\u4e0d\u5b58\u5728&#xff0c;\u5728 Host&#xff1a;<\/p>\n<p><span class=\"token builtin class-name\">cd<\/span> \/home\/wdfk\/share\/ros1-docker\/ros_debug_ws\/src<\/p>\n<p><span class=\"token function\">git<\/span> clone <span class=\"token parameter variable\">&#8211;branch<\/span> noetic-devel &#8211;single-branch <span class=\"token punctuation\">\\\\<\/span><br \/>\n    https:\/\/github.com\/ros\/ros_comm.git<\/p>\n<p>\u7136\u540e\u786e\u8ba4&#xff1a;<\/p>\n<p><span class=\"token builtin class-name\">test<\/span> <span class=\"token parameter variable\">-f<\/span> <span class=\"token punctuation\">\\\\<\/span><br \/>\n    ros_comm\/clients\/roscpp\/include\/ros\/ros.h <span class=\"token punctuation\">\\\\<\/span><br \/>\n    <span class=\"token operator\">&amp;&amp;<\/span> <span class=\"token builtin class-name\">echo<\/span> <span class=\"token string\">&#034;ros.h OK&#034;<\/span><\/p>\n<p>\u518d\u56de hello_node.cpp&#xff1a;<\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">include<\/span> <span class=\"token string\">&lt;ros\/ros.h&gt;<\/span><\/span><\/p>\n<p>\u628a\u5149\u6807\u653e\u5230&#xff1a;<\/p>\n<p>ros\/ros.h<\/p>\n<p>\u6309 F12\u3002<\/p>\n<p>\u76ee\u6807&#xff1a;<\/p>\n<p>\/home\/wdfk\/share\/ros1-docker\/<br \/>\nros_debug_ws\/src\/ros_comm\/clients\/roscpp\/include\/ros\/ros.h<\/p>\n<p>\u8fd9\u4e00\u6b65\u53ea\u8bc1\u660e&#xff1a;<\/p>\n<p>Header \u5bfc\u822a\u5df2\u7ecf\u80fd\u5230\u6e90\u7801<\/p>\n<p>\u5b83\u8fd8\u4e0d\u8bc1\u660e\u8fd0\u884c\u65f6\u771f\u6b63\u52a0\u8f7d\u4e86\u81ea\u5df1\u7f16\u8bd1\u7684 Debug libroscpp.so\u3002\u540e\u8005\u5c5e\u4e8e\u7b2c 05 \u7bc7\u3002<\/p>\n<hr \/>\n<h3>Step 12&#xff1a;\u4f7f\u7528 C\/C&#043;&#043;: Log Diagnostics \u770b\u4e8b\u5b9e<\/h3>\n<p>\u5982\u679c F12 \u6216\u7ea2\u7ebf\u4e0d\u6b63\u5e38&#xff0c;\u4e0d\u8981\u7b2c\u4e00\u53cd\u5e94\u7ee7\u7eed\u6dfb\u52a0 includePath\u3002<\/p>\n<p>\u6267\u884c&#xff1a;<\/p>\n<p>Ctrl&#043;Shift&#043;P<br \/>\n\u2192 C\/C&#043;&#043;: Log Diagnostics<\/p>\n<p>\u91cd\u70b9\u770b&#xff1a;<\/p>\n<p>Current Configuration<br \/>\nCompiler Path<br \/>\nLanguage<br \/>\nInclude Paths<br \/>\nSystem Include Paths<br \/>\nIntelliSense Mode<\/p>\n<p>\u4f8b\u5982\u4f60\u5e94\u8be5\u80fd\u786e\u8ba4&#xff1a;<\/p>\n<p>Compiler Path: \/usr\/bin\/g&#043;&#043;<br \/>\nLanguage: C&#043;&#043;<\/p>\n<p>\u4ee5\u53ca&#xff1a;<\/p>\n<p>include (recursive): &#8230;\/ros_debug_ws\/src<br \/>\ninclude: &#8230;\/ros_comm\/clients\/roscpp\/include<\/p>\n<p>\u5982\u679c\u914d\u7f6e\u6587\u4ef6\u91cc\u5199\u4e86\u8def\u5f84&#xff0c;\u4f46 Diagnostics \u91cc\u6ca1\u6709&#xff0c;\u5c31\u8bf4\u660e&#xff1a;<\/p>\n<p>\u5f53\u524d Translation Unit \u6ca1\u6709\u771f\u6b63\u4f7f\u7528\u90a3\u5957\u914d\u7f6e<\/p>\n<p>\u8fd9\u6bd4\u7ee7\u7eed\u731c\u8def\u5f84\u66f4\u53ef\u9760\u3002<\/p>\n<hr \/>\n<h3>Step 13&#xff1a;\u7406\u89e3 Reset\u3001Rescan \u548c Reload \u7684\u533a\u522b<\/h3>\n<p>\u4fee\u6539 C\/C&#043;&#043; \u914d\u7f6e\u6216\u91cd\u65b0\u751f\u6210\u5927\u91cf header \u540e&#xff0c;\u53ef\u4ee5\u6309\u987a\u5e8f&#xff1a;<\/p>\n<p>C\/C&#043;&#043;: Reset IntelliSense Database<\/p>\n<p>\u6e05\u7406 cpptools \u6570\u636e\u5e93\u3002<\/p>\n<p>\u7136\u540e&#xff1a;<\/p>\n<p>C\/C&#043;&#043;: Rescan Workspace<\/p>\n<p>\u91cd\u65b0\u626b\u63cf workspace\u3002<\/p>\n<p>\u6700\u540e\u5fc5\u8981\u65f6&#xff1a;<\/p>\n<p>Developer: Reload Window<\/p>\n<p>\u91cd\u65b0\u52a0\u8f7d VS Code \u7a97\u53e3\u548c\u6269\u5c55\u3002<\/p>\n<p>\u4e0d\u8981\u628a\u8fd9\u4e09\u4e2a\u52a8\u4f5c\u5f53\u6210\u201c\u4e07\u80fd\u4fee\u590d\u201d\u3002\u5b83\u4eec\u9002\u5408\u5728\u8def\u5f84\u5df2\u7ecf\u6b63\u786e\u3001\u4f46\u7f13\u5b58\u72b6\u6001\u53ef\u80fd\u8fc7\u671f\u65f6\u4f7f\u7528\u3002<\/p>\n<hr \/>\n<h3>Step 14&#xff1a;Remote-SSH Host F5 \u7684\u603b\u4f53\u7ed3\u6784<\/h3>\n<p>\u672c\u5de5\u7a0b\u7684 Host Debug \u914d\u7f6e\u4f7f\u7528&#xff1a;<\/p>\n<p>VS Code cppdbg<br \/>\n    \u8fd0\u884c\u5728 Host<br \/>\n        \u2193 pipeTransport<br \/>\nDocker CLI<br \/>\n        \u2193 docker exec<br \/>\nContainer \/usr\/bin\/gdb<br \/>\n        \u2193<br \/>\nContainer \u4e2d\u7684 hello_node<\/p>\n<p>\u6240\u4ee5 Host \u4e0d\u9700\u8981\u81ea\u5df1\u8fd0\u884c Noetic \u7684 GDB target\u3002<\/p>\n<p>.vscode\/launch.json \u4e2d&#xff1a;<\/p>\n<p>&#034;pipeProgram&#034;: &#034;docker&#034;<\/p>\n<p>\u8ba9 cppdbg \u8c03\u7528 Docker\u3002<\/p>\n<p>&#034;debuggerPath&#034;: &#034;\/usr\/bin\/gdb&#034;<\/p>\n<p>\u8fd9\u4e2a\u8def\u5f84\u662f Container \u91cc\u7684 GDB\u3002<\/p>\n<p>&#034;sourceFileMap&#034;: {<br \/>\n    &#034;\/workspace&#034;: &#034;${workspaceFolder}&#034;<br \/>\n}<\/p>\n<p>\u8d1f\u8d23\u628a DWARF \u4e2d\u8bb0\u5f55\u7684 Container \u6e90\u7801\u8def\u5f84\u6620\u5c04\u56de Host \u6587\u4ef6\u8def\u5f84\u3002<\/p>\n<p>\u7b2c 05 \u7bc7\u4f1a\u5b9e\u9645\u4f7f\u7528\u8fd9\u6761\u94fe\u8def\u3002<\/p>\n<hr \/>\n<h3>Step 15&#xff1a;Reopen in Container \u540e F5 \u4e3a\u4ec0\u4e48\u66f4\u7b80\u5355<\/h3>\n<p>\u5982\u679c\u5df2\u7ecf Reopen in Container&#xff1a;<\/p>\n<p>cpptools<br \/>\nGDB<br \/>\nELF<br \/>\n\u6e90\u7801\u8def\u5f84<\/p>\n<p>\u90fd\u5728\u540c\u4e00\u4e2a Container namespace\u3002<\/p>\n<p>\u56e0\u6b64 Debug \u914d\u7f6e\u53ef\u4ee5\u76f4\u63a5&#xff1a;<\/p>\n<p>&#034;miDebuggerPath&#034;: &#034;\/usr\/bin\/gdb&#034;<\/p>\n<p>\u4e0d\u9700\u8981&#xff1a;<\/p>\n<p>pipeTransport<br \/>\nsourceFileMap \/workspace \u2192 Host<\/p>\n<p>\u8fd9\u4e5f\u662f\u4e3a\u4ec0\u4e48\u672c\u5de5\u7a0b\u4fdd\u7559\u4e24\u5957 launch config&#xff1a;<\/p>\n<p>[HOST]<br \/>\n    \u2192 \u65e5\u5e38 Remote-SSH \u4e3b\u7a97\u53e3\u4f7f\u7528<\/p>\n<p>[DEV CONTAINER]<br \/>\n    \u2192 \u6df1\u5165 Container \u5185\u8c03\u8bd5\u65f6\u4f7f\u7528<\/p>\n<p>\u4e0d\u8981\u628a\u4e24\u5957\u5b57\u6bb5\u6df7\u5728\u540c\u4e00\u4e2a\u914d\u7f6e\u91cc\u3002<\/p>\n<hr \/>\n<h3>\u672c\u7ae0\u5e38\u89c1\u95ee\u9898<\/h3>\n<h4>VS Code \u80fd\u641c\u7d22\u5230 ros.h&#xff0c;\u4f46 #include &lt;ros\/ros.h&gt; F12 \u4e0d\u8df3<\/h4>\n<p>\u201c\u6587\u4ef6\u641c\u7d22\u80fd\u627e\u5230\u201d\u4e0d\u7b49\u4e8e\u201c\u5b83\u88ab\u8bc6\u522b\u6210\u6b63\u786e include root\u201d\u3002<\/p>\n<p>\u786e\u8ba4\u914d\u7f6e\u4e2d\u5b58\u5728&#xff1a;<\/p>\n<p>${workspaceFolder}\/ros_debug_ws\/src\/ros_comm\/clients\/roscpp\/include<\/p>\n<p>\u518d\u7528&#xff1a;<\/p>\n<p>C\/C&#043;&#043;: Log Diagnostics<\/p>\n<p>\u786e\u8ba4\u5f53\u524d TU \u771f\u7684\u52a0\u8f7d\u4e86\u5b83\u3002<\/p>\n<h4>Host \u4e0a \/opt\/ros\/noetic\/include \u4e0d\u5b58\u5728<\/h4>\n<p>\u8fd9\u662f\u6b63\u5e38\u7684\u3002<\/p>\n<p>Remote-SSH Host \u6a21\u5f0f\u4e0b\u4e3b\u8981\u4f9d\u9760&#xff1a;<\/p>\n<p>ros_debug_ws\/src<br \/>\nros_debug_ws\/devel\/include<\/p>\n<p>\u8981\u76f4\u63a5\u8bbf\u95ee Container \/opt\/ros\/noetic&#xff0c;\u4f7f\u7528&#xff1a;<\/p>\n<p>Reopen in Container<\/p>\n<p>\u6216 Container Tools Files\u3002<\/p>\n<h4>ROS1 \u63d2\u4ef6\u80fd\u7528\u73af\u5883&#xff0c;\u4f46\u68c0\u6d4b\u4e0d\u5230 catkin workspace<\/h4>\n<p>\u5f53\u524d VS Code \u6839\u76ee\u5f55\u662f&#xff1a;<\/p>\n<p>\/workspace<\/p>\n<p>\u771f\u6b63 catkin workspace \u662f&#xff1a;<\/p>\n<p>\/workspace\/ros_ws<\/p>\n<p>\u6240\u4ee5\u63d2\u4ef6\u6839\u76ee\u5f55\u81ea\u52a8\u68c0\u6d4b\u4e0d\u4e00\u5b9a\u6210\u529f\u3002<\/p>\n<p>\u4f7f\u7528\u4ed3\u5e93\u63d0\u4f9b\u7684 Task&#xff1a;<\/p>\n<p>ROS1 [DEV CONTAINER]: Build ros1_hello<\/p>\n<p>\u800c\u4e0d\u662f\u4e3a\u4e86\u8fce\u5408\u63d2\u4ef6&#xff0c;\u628a\u6574\u4e2a VS Code \u6839\u76ee\u5f55\u6539\u6210 \/workspace\/ros_ws\u3002<\/p>\n<hr \/>\n<h3>\u672c\u7ae0\u7ec3\u4e60<\/h3>\n<li>\u5728 Remote-SSH Host \u666e\u901a Terminal \u548c ROS1 Container Bash \u4e2d\u5206\u522b\u6267\u884c pwd&#xff1b;<\/li>\n<li>\u5728 Container Tools \u4e2d\u627e\u5230 \/ros_entrypoint.sh&#xff1b;<\/li>\n<li>Reopen in Container \u540e\u6267\u884c which g&#043;&#043;\u3001echo $ROS_DISTRO&#xff1b;<\/li>\n<li>\u56de Remote-SSH Host&#xff0c;\u5bf9 &lt;ros\/ros.h&gt; \u505a F12&#xff1b;<\/li>\n<li>\u6267\u884c C\/C&#043;&#043;: Log Diagnostics&#xff0c;\u627e\u51fa Host g&#043;&#043; \u7684 system include path&#xff1b;<\/li>\n<li>\u89e3\u91ca\u4e3a\u4ec0\u4e48 ros_debug_ws\/src\/** \u548c roscpp \u7cbe\u786e include root \u4e0d\u80fd\u7b80\u5355\u770b\u6210\u540c\u4e00\u4ef6\u4e8b\u3002<\/li>\n<p>\u4e0b\u4e00\u7ae0\u4f1a\u7ee7\u7eed\u6cbf\u7740 hello_node.cpp \u5f80\u4e0b\u8d70&#xff1a;<\/p>\n<p>F12 \u5230 ros\/ros.h<br \/>\n    \u2193<br \/>\n\u627e\u5230 ros::init \u58f0\u660e<br \/>\n    \u2193<br \/>\n\u627e\u5230 init.cpp \u5b9e\u73b0<br \/>\n    \u2193<br \/>\n\u81ea\u5df1\u7f16\u8bd1 Debug libroscpp.so<br \/>\n    \u2193<br \/>\n\u8ba9\u4e1a\u52a1 Node \u771f\u6b63\u52a0\u8f7d\u8fd9\u4efd\u5e93<br \/>\n    \u2193<br \/>\nF5\/F11 \u8fdb\u5165 roscpp<\/p>\n<h3>\u53c2\u8003\u8d44\u6599<\/h3>\n<ul>\n<li>VS Code Remote Development<\/li>\n<li>VS Code Dev Containers<\/li>\n<li>VS Code C&#043;&#043; configuration<\/li>\n<li>VS Code C&#043;&#043; debugging<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>04&#xff1a;\u4f7f\u7528 VS Code Remote-SSH \u4e0e Dev Container 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