linux下Cmake和vscode的配置
·
C++ 环境安装:
sudo apt update
sudo apt install build-essential gdb
sudo apt install cmake
gcc --version
g++ --version
gdb --version
cmake --version
C/C++ Themes
CMake 写CMakeLists.txt能提示{
// 使用 IntelliSense 了解相关属性。
// 悬停以查看现有属性的描述。
// 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"name": "C++ Launch",
"type": "cppdbg",
"request": "launch",
# 要调试的文件路径
"program": "/home/lgc/demo/07_calib/OpenCalib-master/lidar2camera/manual_calib/bin/run_lidar2camera", // 编译后的可执行文件
// 要调试的参数
"args": ["data/0.png","data/0.pcd","data/center_camera-intrinsic.json","data/top_center_lidar-to-center_camera-extrinsic.json"], //
"stopAtEntry": false,
//先切换到什么路径，与参数有关
"cwd": "${workspaceFolder}/lidar2camera/manual_calib",
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
"miDebuggerPath": "/usr/bin/gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
}
],
//"preLaunchTask": "build" //如果不用编译,可以不要
}
]
}task.josn
{
"version": "2.0.0",
"options": {
"cwd": "${workspaceFolder}/build" //需要进入到我们执行tasks任务的文件夹中
},
"tasks": [ //tasks包含三个小任务
{
"type": "shell",
"label": "cmake", //第一个任务的名字叫cmake
"command": "cmake", //它要执行的命令是cmake
"args": [
"-DCMAKE_BUILD_TYPE=Debug",
".." //参数是..
]
},
{
"type": "shell",
"label": "make", //第二个任务的名字叫make
"group": {
"kind": "build",
"isDefault": true
},
"command": "make", //它要执行的命令是make
"args": [],
"options": {
"cwd": "${workspaceFolder}/build",
},
},
{
"label": "build", //第三个任务的名字叫build
"dependsOrder": "sequence", //顺序执行依赖项
"dependsOn":[ //依赖的两个项为cmake和make
"cmake", //即第一个任务的label
"make" //即第二个任务的label
]
}
]
}
setting.json:要调试的cmake文件
{
"cmake.sourceDirectory": "/home/lgc/demo/07_calib/OpenCalib-master/lidar2camera/manual_calib"
// 整体界面缩放（相当于 Ctrl+/- 的效果）
"window.zoomLevel": 1.5,
// 可选：单独调整编辑器字体
"editor.fontSize": 20,
// 可选：调整终端字体
"terminal.integrated.fontSize": 15
}
终端-->运行生成任务-->生成tasks.json ,主要是减少cmake指令
{
"version": "2.0.0",
"tasks": [
// 1. cmake 配置
{
"type": "shell",
"label": "CMake: 配置",
"command": "cmake",
"args": [
"-S",
"${workspaceFolder}",
"-B",
"${workspaceFolder}/build",
"-DCMAKE_BUILD_TYPE=Debug"
],
"problemMatcher": "$msCompile",
"group": {
"kind": "build",
"isDefault": true
},
"options": {
"cwd": "${workspaceFolder}"
}
},
// 2. cmake 构建
{
"type": "shell",
"label": "CMake: 构建",
"command": "cmake",
"args": [
"--build",
"${workspaceFolder}/build"
],
"problemMatcher": "$msCompile",
"group": {
"kind": "build",
"isDefault": true
},
"options": {
"cwd": "${workspaceFolder}"
},
"dependsOn": [
"CMake: 配置"
]
},
// 3. 删除Build目录
{
"type": "shell",
"label": "删除Build目录",
"command": "rm",
"args": [
"-rf",
"build"
],
"problemMatcher": "$msCompile",
"group": {
"kind": "build",
"isDefault": true
},
"options": {
"cwd": "${workspaceFolder}"
}
},
// 4. 运行可执行文件
{
"type": "shell",
"label": "运行可执行文件",
"command": "./Build/main",
"problemMatcher": "$msCompile",
"group": {
"kind": "build",
"isDefault": true
},
"options": {
"cwd": "${workspaceFolder}"
},
"dependsOn": [
"CMake: 构建"
]
}
]
}launch.json #可以用which gdb 查看dgb的路径
gdb --version 查看gdb的版本
点CMake Configure即可调试CMakeLists.txt文件，还要安装CMake Tools工具
{
// 使用 IntelliSense 了解相关属性。
// 悬停以查看现有属性的描述。
// 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"name": "C++ CMake Debug",
"type": "cppdbg",
"request": "launch",
"program": "${workspaceFolder}/Build/${fileBasenameNoExtension}", // 编译后的程序，需要结合CMakeLists.txt中的add_executable()函数
"args": [],
"stopAtEntry": false,
"cwd": "${workspaceFolder}",
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
"miDebuggerPath": "/usr/bin/gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
}
],
"preLaunchTask": "CMake: 构建"
},{
"name": "CMake Debug",
"type": "cmake",
"request": "launch",
"scriptPath": "/home/standard/yolo/ncnn/CMakeLists.txt",
"cmakeDebugType": "script",
},
{
"name": "CMake Configure",
"type": "cmake",
"request": "launch",
"cmakeDebugType": "configure"
}
]
}c_cpp_properties.json
vscode调试时查找头文件的路径
{
"configurations": [
{
"name": "Linux",
"includePath": [
"${workspaceFolder}/**",
"/usr/include/opencv4"
],
"defines": [],
"compilerPath": "/usr/bin/gcc",
"cStandard": "gnu17",
"cppStandard": "gnu++14",
"intelliSenseMode": "linux-gcc-x64"
}
],
"version": 4
}如何断点调试CMakeLists.txt文件
1、首先安装cmake tools,cmake的版本版本必须大于3.27
2、launch.json中填写
{
"version": "0.2.0",
"configurations": [
{
"type": "cmake",
"request": "launch",
"name": "Debug CMake Configure (yolov8)",
"cmakeDebugType": "configure", # 如果是调试cmake文件，就是选这个
"clean": true,
"configureAll": false
}
]
}3、设置settings.json
{
"cmake.sourceDirectory": "${workspaceFolder}/examples/yolov8/cpp",
"cmake.buildDirectory": "${workspaceFolder}/build/cmake-debug/yolov8-rk3588",
"cmake.generator": "Unix Makefiles",
"cmake.configureSettings": { # cmake的参数
"CMAKE_BUILD_TYPE": "Release",
"THIRD_PARTY_LIB_DIR": "/workspace/src/perception-platform/build/linux-arm64-jetson/third_party/lib",
"CMAKE_PROJECT_INCLUDE": "/workspace/src/perception-platform/cmake/PerceptionSubprojectEnvironment.cmake",
"PERC_PREBUILD_PLATFORM": "linux-arm64-jetson",
"PERC_PREBUILD_DIR": "/workspace/src/perception-platform/third_party/prebuild/linux-arm64-jetson",
"PERC_RUNTIME_PROFILE": "jetson",
"PERC_PREBUILD_PROFILE": "jetson",
"perc_infra_DIR": "/workspace/src/perception-platform/build/linux-arm64-jetson/infra/build",
"perc_pipeline_DIR": "/workspace/src/perception-platform/build/linux-arm64-jetson/pipeline/build",
"perc_scheduler_DIR": "/workspace/src/perception-platform/build/linux-arm64-jetson/scheduler/build"
}
}
这些项的原理：
cmake.sourceDirectory 指定真正包含 CMakeLists.txt 的源码目录。因为 rknn_model_zoo 根目录不是直接构建 yolov8，而是它下面的 examples/yolov8/cpp。
cmake.buildDirectory 指定构建输出目录。这样不会把中间文件散落到源码目录。
cmake.generator 指定生成器，这里是 Unix Makefiles，所以后面通常走 make。
cmake.configureArgs 这就是你手敲命令时 -Dxxx=yyy 的图形化版本。CMake Tools 点“配置”时，会自动把这些参数带上。
一句话理解：这份 settings.json 是在告诉 VSCode/Cursor，“如果你帮我跑 cmake，请按这套参数跑”。4、点CMake Configure即可断点调试CmakeLists.txt文件
断点调试roslaunch文件，不调可执行程序
launch.json的写法:
{
"version": "0.2.0",
"configurations": [
{
"name": "Debug easygo_perception.launch.py",
"type": "debugpy", // 使用Python调试器
"request": "launch", // 表示由一个新进程来调试
"program": "/opt/ros/humble/bin/ros2", // 使用这个ros2
"args": [
"launch",
"/home/standard/code/Easygo/code/easygo/src/easygo_perception_bridge/launch/easygo_perception.launch.py",
"enable_dcw2_upper_camera:=false",
"enable_dcw2_lower_camera:=false",
"enable_perception:=false"
],
"cwd": "/home/standard/code/Easygo/code/easygo",
"console": "integratedTerminal", // 让命令跑在VSCode集成终端里
"justMyCode": false, //允许调试进入第三方库代码
"env": {
"EASYGO_ROOT": "/home/standard/code/Easygo/code/easygo",
"PYTHONUNBUFFERED": "1"
}
}
]
}launch.py
import os
from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument,
ExecuteProcess,
SetEnvironmentVariable,
TimerAction,
)
from launch.conditions import IfCondition
from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
def generate_launch_description():
easygo_root = os.environ.get("EASYGO_ROOT", "/home/std/project/easygo")
default_runtime_root = os.path.join(
easygo_root, "third_party", "perception_platform", "current"
)
runtime_root = LaunchConfiguration("perception_platform_root")
def dcw2_camera_launch(prefix):
camera_name = LaunchConfiguration(f"dcw2_{prefix}_camera_name")
enabled = IfCondition(LaunchConfiguration(f"enable_dcw2_{prefix}_camera"))
container = Node(
package="rclcpp_components",
executable="component_container",
name="camera_container",
namespace=camera_name,
output="screen",
condition=enabled,
)
load_component = TimerAction(
period=1.0,
actions=[
ExecuteProcess(
cmd=[
"bash",
"-lc",
[
"ros2 component load /",
camera_name,
"/camera_container orbbec_camera orbbec_camera::OBCameraNodeDriver ",
"--node-name ob_camera_node --node-namespace /",
camera_name,
" -p camera_name:=",
camera_name,
" -p serial_number:=",
LaunchConfiguration(f"dcw2_{prefix}_serial_number"),
" -p device_num:=",
LaunchConfiguration("dcw2_device_num"),
" -p enable_color:=",
LaunchConfiguration("dcw2_enable_color"),
" -p enable_depth:=",
LaunchConfiguration("dcw2_enable_depth"),
" -p enable_ir:=",
LaunchConfiguration("dcw2_enable_ir"),
" -p enable_point_cloud:=",
LaunchConfiguration("dcw2_enable_point_cloud"),
" -p depth_registration:=",
LaunchConfiguration("dcw2_depth_registration"),
" -p align_mode:=",
LaunchConfiguration("dcw2_align_mode"),
" -p color_width:=",
LaunchConfiguration("dcw2_color_width"),
" -p color_height:=",
LaunchConfiguration("dcw2_color_height"),
" -p color_fps:=",
LaunchConfiguration("dcw2_color_fps"),
" -p depth_width:=",
LaunchConfiguration("dcw2_depth_width"),
" -p depth_height:=",
LaunchConfiguration("dcw2_depth_height"),
" -p depth_fps:=",
LaunchConfiguration("dcw2_depth_fps"),
" -p color_format:=",
LaunchConfiguration("dcw2_color_format"),
" -p depth_format:=",
LaunchConfiguration("dcw2_depth_format"),
],
],
output="screen",
condition=enabled,
)
],
)
return [container, load_component]
upper_camera_launch = dcw2_camera_launch("upper")
lower_camera_launch = dcw2_camera_launch("lower")
ros2_setup = PathJoinSubstitution([runtime_root, "ros2", "setup.bash"])
launch_cmd = [
"bash",
"-lc",
[
"if [ -d /home/std/easygo_ws/install/easygo_follow_msgs ]; then "
"export AMENT_PREFIX_PATH=/home/std/easygo_ws/install/easygo_follow_msgs:${AMENT_PREFIX_PATH:-}; "
"export CMAKE_PREFIX_PATH=/home/std/easygo_ws/install/easygo_follow_msgs:${CMAKE_PREFIX_PATH:-}; "
"export LD_LIBRARY_PATH=/home/std/easygo_ws/install/easygo_follow_msgs/lib:${LD_LIBRARY_PATH:-}; "
"fi; "
"source ",
ros2_setup,
" && exec ros2 launch easygo_perception_ros2 easygo_perception.launch.py ",
"perception_platform_root:=",
runtime_root,
" pipeline_config_path:=",
LaunchConfiguration("perception_config_path"),
" max_frames:=",
LaunchConfiguration("perception_max_frames"),
],
]
return LaunchDescription(
[
DeclareLaunchArgument("enable_perception", default_value="true"),
DeclareLaunchArgument("enable_dcw2_upper_camera", default_value="true"),
DeclareLaunchArgument("enable_dcw2_lower_camera", default_value="true"),
DeclareLaunchArgument("perception_mode", default_value="current"),
DeclareLaunchArgument(
"perception_platform_root",
default_value=EnvironmentVariable(
"PERCEPTION_PLATFORM_ROOT", default_value=default_runtime_root
),
),
DeclareLaunchArgument(
"perception_config_path",
default_value=PathJoinSubstitution(
[runtime_root, "config", "pipelines", "pedestrian_detection_orbbec_yolov8.yaml"]
),
),
DeclareLaunchArgument("perception_max_frames", default_value="0"),
DeclareLaunchArgument("dcw2_upper_camera_name", default_value="camera_upper"),
DeclareLaunchArgument("dcw2_upper_serial_number", default_value="CH8J1620106"),
DeclareLaunchArgument("dcw2_lower_camera_name", default_value="camera_lower"),
DeclareLaunchArgument("dcw2_lower_serial_number", default_value="CH8J16202R4"),
DeclareLaunchArgument("dcw2_device_num", default_value="2"),
DeclareLaunchArgument("dcw2_enable_color", default_value="true"),
DeclareLaunchArgument("dcw2_enable_depth", default_value="true"),
DeclareLaunchArgument("dcw2_enable_ir", default_value="false"),
DeclareLaunchArgument("dcw2_enable_point_cloud", default_value="false"),
DeclareLaunchArgument("dcw2_depth_registration", default_value="true"),
DeclareLaunchArgument("dcw2_align_mode", default_value="HW"),
DeclareLaunchArgument("dcw2_color_width", default_value="640"),
DeclareLaunchArgument("dcw2_color_height", default_value="480"),
DeclareLaunchArgument("dcw2_color_fps", default_value="10"),
DeclareLaunchArgument("dcw2_depth_width", default_value="640"),
DeclareLaunchArgument("dcw2_depth_height", default_value="400"),
DeclareLaunchArgument("dcw2_depth_fps", default_value="10"),
DeclareLaunchArgument("dcw2_color_format", default_value="MJPG"),
DeclareLaunchArgument("dcw2_depth_format", default_value="Y11"),
SetEnvironmentVariable("PERCEPTION_PLATFORM_ROOT", runtime_root),
SetEnvironmentVariable(
"LD_LIBRARY_PATH",
[
PathJoinSubstitution([runtime_root, "lib"]),
":",
PathJoinSubstitution([runtime_root, "lib", "plugins"]),
":",
EnvironmentVariable("LD_LIBRARY_PATH", default_value=""),
],
),
*upper_camera_launch,
*lower_camera_launch,
TimerAction(
period=3.0,
actions=[
ExecuteProcess(
cmd=launch_cmd,
output="screen",
condition=IfCondition(LaunchConfiguration("enable_perception")),
)
],
),
]
)
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