I’d like to learn how to use vscode to debug ROS2 nodes in any given programing language without modifying launch files. Attaching a gdb debugger on a spawned process from the roslaunch CLI is straightforward, but not if I’d like it to attach to a breakpoint early in the node’s startup lifecycle.
One could of course copy the startup command for the process that ros launch generates, then comment out that node from the rest of the orchestration and start it manually with gdb, but it’d be cooler if I could point the vscode debugger at the external launch file and have it prompt me for the respective node to attach at startup, without having to hatchet the launch file to isolate the target node. Context:
I’m guessing others have found more elegant or ergonomic solutions, so that would be nice to hear.