1. vscode中设置C++版本的ROS2用户代码片段

1) 找到vscode 下的设置选项，选择用户代码片段

2) 选择用户代码片段后，会弹出选择框，如下图，输入C++,选择 cpp.json

配置好的文件

进入如下文件，下图为本人配置的代码片段模版文件

{
	// Place your snippets for cpp here. Each snippet is defined under a snippet name and has a prefix, body and 
	// description. The prefix is what is used to trigger the snippet and the body will be expanded and inserted. Possible variables are:
	// $1, $2 for tab stops, $0 for the final cursor position, and ${1:label}, ${2:another} for placeholders. Placeholders with the 
	// same ids are connected.
	// Example:
	// "Print to console": {
	// 	"prefix": "log",
	// 	"body": [
	// 		"console.log('$1');",
	// 		"$2"
	// 	],
	// 	"description": "Log output to console"
	// }

	"Print to console": {
		"prefix": "ros2_node_cpp",
		"body": [
				"/*",  
				"	 需求：订阅发布方发布的消息，并在终端输出。",
				"	 流程：",
				"		1.包含头文件；",
				"		2.初始化ROS2客户端；",
				"		3.自定义节点类；",
				"		3-1.创建订阅方；",
				"		3-2.解析并输出数据。",
				"		4.调用spain函数，并传入节点对象指针；",
				"		5.资源释放。",
				"*/",
				"// 1.包含头文件",
				"#include \"rclcpp/rclcpp.hpp\"",
				"",
				"// 3.自定义节点类",
				"class MyNode: public rclcpp::Node{",
				"public:",
				"	MyNode():Node(\"mynode_node_cpp\"){",
				"		",
				"		",
				"	}",
				"};",
				"",
				"int main(int argc, char const *argv[])",
				"{",
				"	// 2.初始化ROS2客户端；",
				"	rclcpp::init(argc,argv);",
				"	// 4.调用spain函数，并传入节点对象指针；",
				"	rclcpp::spin(std::make_shared<MyNode>());",
				"	// 5.资源释放。",
				"	rclcpp::shutdown();",
				"	return 0;",
				"}",
		],
		"description": "ros2 main func"
	}
}

 配置方法：

把提前准备好的代码，复制到"body"的 [ ] 中，修改"prefix": 后的名字为“ros2_node_cpp”, 再修改最后一行“description”:后的描述 为“ros2 main func”

然后也是最关键的部分，把上述代码的每一行（包括：空行）都用  "   "  双引号包裹起来, 每一行的末尾加上逗号 ,  (一定是英文的符号)，对于文件中原本自带的双引号，则原来的双引号前加上\ 如下所示：

"#include \"rclcpp/rclcpp.hpp\"",

如果代码仍然显示为报错的红色，则按住FN + F 键   弹出一个窗口，把 "        " tab 制表符，换成四个空格，如图所示：

然后选择全部替，保存此文件，即可

具体使用演示

在工作空间中的功能包的src下，新建一个.cpp文件，如test.cpp   

输入如下，选择ros2_node_cpp    然后即可显示出我们配置好的文件模版,选择并按下enter键即可，无需手写

 

2. vscode中设置python版本的ROS2用户代码片段

     在设置中选择用户代码片段后  输入python 即可，选择相应的文件  具体操作方法同方C++

配置好的文件

{
	// Place your snippets for python here. Each snippet is defined under a snippet name and has a prefix, body and 
	// description. The prefix is what is used to trigger the snippet and the body will be expanded and inserted. Possible variables are:
	// $1, $2 for tab stops, $0 for the final cursor position, and ${1:label}, ${2:another} for placeholders. Placeholders with the 
	// same ids are connected.
	// Example:
	// "Print to console": {
	// 	"prefix": "log",
	// 	"body": [
	// 		"console.log('$1');",
	// 		"$2"
	// 	],
	// 	"description": "Log output to console"
	// }

	"Print to console": {
		"prefix": "ros2_node_py",
		"body": [
				"\"\"\"",  
				"需求:以某个固定频率发送文本“hello world!”,文本后缀编号,每发布一条,编号+1.",
				"流程:",
				"	1.导包",
				"	2.初始化ROS2客户端",
				"	3.自定义节点类",
				"	3-1.创建消息发布方",
				"	3-2.创建定时器",
				"	3-3.组织并发布消息",
				"	4.调用spin函数,传入自定义类对象",
				"	5.释放资源",
				"",
				"\"\"\"",
				"# 1.导包",
				"import rclpy",
				"from rclpy.node import Node",
				"",
				"",
				"# 3.自定义节点类",
				"class MyNode(Node):",
				"	def __init__(self):",
				"		super().__init__(\"mynode_node_py\")",
				"",	
				"",
				"",
				"def main():",
				"	# 2.初始化ROS2客户端",
				"	rclpy.init()",
				"	# 4.调用spin函数,传入自定义类对象",
				"	rclpy.spin(MyNode())",
				"	# 5.释放资源",
				"	rclpy.shutdown()",
				"",
				"if __name__ == '__main__':",
				"	main()",
		],
		"description": "ros2 node func"
	}
}

具体使用演示

 

 3. vscode 中设置package.xml文件的用户代码片段

     在设置中选择用户代码片段后  输入xml 即可，选择相应的文件  具体操作方法同方C++

配置好的文件

{
	// Place your snippets for xml here. Each snippet is defined under a snippet name and has a prefix, body and 
	// description. The prefix is what is used to trigger the snippet and the body will be expanded and inserted. Possible variables are:
	// $1, $2 for tab stops, $0 for the final cursor position, and ${1:label}, ${2:another} for placeholders. Placeholders with the 
	// same ids are connected.
	// Example:
	// "Print to console": {
	// 	"prefix": "log",
	// 	"body": [
	// 		"console.log('$1');",
	// 		"$2"
	// 	],
	// 	"description": "Log output to console"
	// }

	"Print to console": {
		"prefix": "ros2_package_xml",
		"body": [
				"",
				"<!-- 编译依赖 -->",
				"<build_depend>rosidl_default_generators</build_depend>",
				"<!-- 执行依赖 -->",
				"<exec_depend>rosidl_default_runtime</exec_depend>",
				"<!-- 声明当前包所属的功能包组 -->",
				"<member_of_group>rosidl_interface_packages</member_of_group>",
				"",
		],
		"description": "ros2 package xml"
	}
}

因为这些依赖比较长，很容易记错，手写很容易出错，所以这部分可配置成用户代码片段

具体使用演示

 

 4. vscode 中设置 cmakelists.txt 文件的用户代码片段

   在设置中选择用户代码片段后  输入 cmake 即可，选择相应的文件  具体操作方法同方C++

 配置好的文件

{
	// Place your snippets for cmake here. Each snippet is defined under a snippet name and has a prefix, body and 
	// description. The prefix is what is used to trigger the snippet and the body will be expanded and inserted. Possible variables are:
	// $1, $2 for tab stops, $0 for the final cursor position, and ${1:label}, ${2:another} for placeholders. Placeholders with the 
	// same ids are connected.
	// Example:
	// "Print to console": {
	// 	"prefix": "log",
	// 	"body": [
	// 		"console.log('$1');",
	// 		"$2"
	// 	],
	// 	"description": "Log output to console"
	// }

	"Print to console": {
		"prefix": "ros2_cmake_txt",
		"body": [
				"",
				"find_package(rosidl_default_generators REQUIRED)",
				"# 为接口文件生成源码",
				"rosidl_generate_interfaces(${PROJECT_NAME}",
				"\"msg/Student.msg\"",
				")",
				"",
		],
		"description": "ros2 cmake txt"
	}
}

 具体使用演示