Debug python node in a combined python and C++ package

[salmagro]

Background

I have difficulties attaching to a process of a python node in a combined python and C++ package in Ros2, using the tools given in vscode-ros. That is why I present this approach using the python debugger provided by vscode.

There are different templates and tutorials about how to create the combined package:

1. Create a ROS2 package for Both Python and Cpp Nodes
2. How to create a ROS2 package in C++ and Python | ROS Developers Live Class

In my case, I am using the approach proposed by roboticsbackend.

Use the default python debugger

I found this solution that I want to share here, for other developers that found it helpful. A python node can be launched or debugged using the configuration given by vscode: https://code.visualstudio.com/docs/python/debugging

Considerations:

1. Build the package with the argument colcon build --symlink-install as explained in https://docs.ros.org/en/foxy/Tutorials/Colcon-Tutorial.html
2. Make the python script executable: chmod +x scripts/py_node.py

Attach to a process

Configuration added in .vscode/launch.json:

    "configurations": [
        {
            "name": "Python: Attach using Process Id",
            "type": "python",
            "request": "attach",
            "processId": "${command:pickProcess}",
        },
]

Launch the current file

Configuration added in .vscode/launch.json:

    "configurations": [
         {
            "name": "Python: Current File",
            "type": "python",
            "request": "launch",
            "program": "${file}",
            "console": "integratedTerminal",
            "justMyCode": false
        },
]

Note the setting "justMyCode":false, to be able to step into scripts in different locations.

Any comment or correction is welcome.