VScode配置ROS python编程环境

小灰灰 2022-12-02 01:22 288阅读 0赞

### VScode配置ROS python编程环境 ###

VScode官网：[https://code.visualstudio.com/][https_code.visualstudio.com]

### 必装插件： ###

Chinese (Simplified) Language Pack for Visual Studio Code

![20201010163708660.png][]

这里强调一下，不要用新版，新版的没成功。

![20201010163533624.png][]

测试程序talker.py

#!/usr/bin/env python
    
    
    import rospy
    from std_msgs.msg import String
    
    def talker():
        pub = rospy.Publisher('chatter', String, queue_size=10)
        rospy.init_node('talker', anonymous=True)
        rate = rospy.Rate(10) # 10hz
        while not rospy.is_shutdown():
            hello_str = "hello world %s" % rospy.get_time()
            rospy.loginfo(hello_str)
            pub.publish(hello_str)
            rate.sleep()
    
    if __name__ == '__main__':
        try:
            talker()
        except rospy.ROSInterruptException:
            pass

listener.py

#!/usr/bin/env python
    
    import rospy
    from std_msgs.msg import String
    
    def callback(data):
        rospy.loginfo(rospy.get_caller_id() + 'I heard %s', data.data)
    
    def listener():
    
        
        rospy.init_node('listener', anonymous=True)
    
        rospy.Subscriber('chatter', String, callback)
    
        rospy.spin()
    
    if __name__ == '__main__':
        listener()

注意启动顺序，先启动roscore，再启动talker.py 最后启动listener.py并在合适地方加入断点。

### 自动格式化工具 ###

pip install yapf

左下角：管理——setting（Ctrl+逗号）——搜索：formatting.provider——由autopep8改为：yapf

格式化快捷键：Ctrl + Shift + F

### 高亮缩进 ###

indent-rainbow 插件

[https_code.visualstudio.com]: https://code.visualstudio.com/
[20201010163708660.png]: /images/20221123/97cf391952704285bb3630f0f4e0e8c8.png
[20201010163533624.png]: /images/20221123/dae58a291d4c440cb193a81b8095778b.png