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launch.json
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launch.json
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{
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"name": "custom_stm32f767zi-stlink-dbg",
"type": "cortex-debug",
"request": "launch",
"servertype": "stutil",
"cwd": "${workspaceRoot}",
"executable": "${workspaceRoot}/libs/custom_stm32f767zi/build/micro-ROS.elf",
"runToEntryPoint": "appMain",
"armToolchainPath": "${workspaceRoot}/toolchain/gcc-arm-none-eabi-8-2019-q3-update/bin",
"svdFile": "${workspaceRoot}/.vscode/svd/STM32F767.svd",
},
{
// manually run task "ros2_run_debug_server"
"name": "host-gdb-local-server",
"request": "launch",
"type": "cppdbg",
"miDebuggerServerAddress": "localhost:8009",
"cwd": "${workspaceRoot}",
"program": "./app_ws/install/micro_ros_lifecycle_node/lib/micro_ros_lifecycle_node/lifecycle_node",
"stopAtEntry": false,
"linux": {
"MIMode": "gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
}
]
}
// "preLaunchTask": "debug_server",
},
{
// not available if not source
"name": "host-gdb-run",
"type": "cppdbg",
"request": "launch",
"program": "${workspaceRoot}/app_ws/install/micro_ros_lifecycle_node/lib/micro_ros_lifecycle_node/lifecycle_node",
"args": [],
"stopAtEntry": false,
"cwd": "${workspaceRoot}",
"environment": [
{
"name": "RMW_IMPLEMENTATION",
"value": "rmw_microxrcedds"
// "value": "rmw_fastrtps_cpp"
}
],
"externalConsole": false,
"MIMode": "gdb",
"setupCommands": [
{
"description": "Enable pretty-printing for gdb",
"text": "-enable-pretty-printing",
"ignoreFailures": true
}
]
},
{
// not available
"name": "custom_stm32f767zi-openocd-dbg",
"type": "cortex-debug",
"request": "launch",
"servertype": "openocd",
"cwd": "${workspaceRoot}",
"executable": "${workspaceRoot}/libs/custom_stm32f767zi/build/micro-ROS.elf",
"runToEntryPoint": "main",
"armToolchainPath": "${workspaceRoot}/toolchain/gcc-arm-none-eabi-8-2019-q3-update/bin",
"device": "STM32F767ZIT6",
"svdFile": "${workspaceRoot}/.vscode/svd/STM32F767.svd",
"configFiles": [
"interface/stlink-v2-1.cfg",
"target/stm32f7x.cfg"
],
"rtos": "FreeRTOS",
}
]
}