How to debug roslaunch with IDE RoboWare or Visual Code(RotorS MAV gazebo simulator)?

[diogon01]

Hello guys,

I installed RotorS the MAV Gazebo simulator and it's worked fine.( link for RotorS) but a trie use Debug in IDE RoboWare and i don't have success how to debug launch file witch RoboWare or Visual Code? Thank's guys

My launch this file: ~/catkin_ws/src/rotors_simulator/rotors_gazebo/launch/mav_hovering_example_with_vi_sensor.launch

My launch file launch in this exactly moment:

<launch>
 <arg name="mav_name" default="firefly"/>
 <arg name="world_name" default="basic"/>
 <arg name="enable_logging" default="true" />
 <arg name="enable_ground_truth" default="true" />
 <arg name="log_file" default="$(arg mav_name)" />

<env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
<env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
   <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world" />
   <arg name="debug" value="true"/>
   <arg name="paused" value="true"/>
<!-- <arg name="gui" value="false"/> -->
</include>

<group ns="$(arg mav_name)">


 <include file="$(find rotors_gazebo)/launch/spawn_mav.launch">
      <arg name="mav_name" value="$(arg mav_name)" />
      <arg name="model" value="$(find rotors_description)/urdf/mav_with_vi_sensor.gazebo" />
      <arg name="enable_logging" value="$(arg enable_logging)" />
      <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
      <arg name="log_file" value="$(arg log_file)"/>
    </include>
    <node name="lee_position_controller_node" pkg="rotors_control" type="lee_position_controller_node" output="screen">
      <rosparam command="load" file="$(find rotors_gazebo)/resource/lee_controller_$(arg mav_name).yaml" />
      <rosparam command="load" file="$(find rotors_gazebo)/resource/$(arg mav_name).yaml" />
      <remap from="odometry" to="odometry_sensor1/odometry" />
    </node>
    <node name="hovering_example" pkg="rotors_gazebo" type="hovering_example" output="screen"/>
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  </group>
</launch>

My configuration debug in Roboware(launch.json)

{
	"version": "0.2.0",
	"configurations": [
		{
			"name": "C++",
			"type": "gdb",
			"request": "launch",
			"target": "${file}",
			"cwd": "${workspaceRoot}",
			"arguments": "roscore"
		},
		{
			"name": "C++ (remote)",
			"type": "gdb",
			"request": "launch",
			"target": "dev${relativeFile}",
			"cwd": "${workspaceRoot}",
			"ssh": {
				"host": "remotehost",
				"user": "remoteuser",
				"keyfile": "/home/user/.ssh/id_rsa",
				"cwd": "/home/remote/ws"
			}
		},
		{
			"name": "Python",
			"type": "python",
			"request": "launch",
			"stopOnEntry": true,
			"pythonPath": "${config:python.pythonPath}",
			"program": "${file}",
			"debugOptions": [
				"WaitOnAbnormalExit",
				"WaitOnNormalExit",
				"RedirectOutput"
			]
		}
	]
}