ros2.code-workspace

{
  // FOLDERS
  "folders": [],
  // EXTENSIONS
  "extensions": {
    "recommendations": [
      "cheshirekow.cmake-format",
      "dotjoshjohnson.xml",
      "foxundermoon.shell-format",
      // "laurenttreguier.uncrustify",
      "ms-python.python",
      "ms-python.vscode-pylance",
      "ms-vscode.cpptools",
      "redhat.vscode-yaml",
      "smilerobotics.urdf",
      "streetsidesoftware.code-spell-checker",
      "timonwong.shellcheck",
      "twxs.cmake",
      "yzhang.markdown-all-in-one"
    ]
  },
  // SETTINGS
  "settings": {
    // "[cpp]": {
    //   "editor.defaultFormatter": "LaurentTreguier.uncrustify",
    //   "editor.tabSize": 2,
    // },
    "[python]": {
      "editor.tabSize": 4,
    },
    "[xml]": {
      "editor.tabSize": 2,
    },
    "[yaml]": {
      "editor.tabSize": 2,
    },
    "C_Cpp.default.compileCommands": "${env:COLCON_WORKSPACE_FOLDER}/build/compile_commands.json",
    "C_Cpp.default.intelliSenseMode": "clang-x64",
    "C_Cpp.formatting": "Disabled",
    "cmakeFormat.args": [
      "--config-files",
      "${env:COLCON_WORKSPACE_FOLDER}/.vscode-format/cmake-format.py"
    ],
    "editor.detectIndentation": false,
    "editor.tabSize": 2,
    "files.associations": {
      "*.repos": "yaml",
      "*.world": "xml",
      "*.xacro": "xml"
    },
    "files.insertFinalNewline": true,
    "files.trimFinalNewlines": true,
    "python.formatting.provider": "yapf",
    "python.formatting.yapfArgs": [
      "--style",
      "${env:COLCON_WORKSPACE_FOLDER}/.vscode-format/style.yapf"
    ],
    "python.linting.flake8Args": [
      "--config",
      "${env:COLCON_WORKSPACE_FOLDER}/.vscode-format/ament_flake8.ini",
    ],
    "python.linting.flake8Enabled": true,
    "python.linting.pylintEnabled": false,
    "python.sortImports.args": [
      "--profile",
      "google",
      "-o",
      "launch" // avoid separating launch import in launch.py files
    ],
    // "uncrustify.configPath.linux": "${env:COLCON_WORKSPACE_FOLDER}/.vscode-format/ament_code_style.cfg",
    // "uncrustify.useReplaceOption": true,
  },
  // LAUNCH
  "launch": {
    "version": "0.2.0",
    "configurations": [
      // Example launch of a python file
      {
        "name": "Python: Current File",
        "type": "python",
        "request": "launch",
        "program": "${file}",
        "console": "integratedTerminal",
      },
      // Example gdb launch of a ros executable
      {
        "name": "(gdb) Launch",
        "type": "cppdbg",
        "request": "launch",
        "program": "${env:COLCON_WORKSPACE_FOLDER}/install/${input:package}/lib/${input:package}/${input:program}",
        "args": [],
        "preLaunchTask": "build",
        "stopAtEntry": true,
        "cwd": "${env:COLCON_WORKSPACE_FOLDER}",
        "externalConsole": false,
        "MIMode": "gdb",
        "setupCommands": [
          {
            "description": "Enable pretty-printing for gdb",
            "text": "-enable-pretty-printing",
            "ignoreFailures": true
          }
        ]
      }
    ],
    "inputs": [
      {
        "id": "package",
        "type": "promptString",
        "description": "Package name",
        // "default": "examples_rclcpp_minimal_publisher"
      },
      {
        "id": "program",
        "type": "promptString",
        "description": "Program name",
        // "default": "publisher_member_function"
      }
    ]
  },
  // TASKS
  "tasks": {
    "version": "2.0.0",
    // most tasks are taken from https://github.com/athackst/vscode_ros2_workspace
    "tasks": [
      // Build tasks
      {
        "label": "build",
        "detail": "Build workspace (default)",
        "type": "shell",
        "command": "colcon build --cmake-args '-DCMAKE_BUILD_TYPE=RelWithDebInfo' -Wall -Wextra -Wpedantic",
        "group": {
          "kind": "build",
          "isDefault": true
        },
        "problemMatcher": "$gcc",
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      // Test tasks
      {
        "label": "test",
        "detail": "Run all unit tests and show results.",
        "type": "shell",
        "command": "colcon test; colcon test-result",
        "group": {
          "kind": "test",
          "isDefault": true
        },
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      // Clean
      {
        "label": "clean",
        "detail": "Run the clean target",
        "type": "shell",
        "command": "colcon build --cmake-target clean",
        "problemMatcher": "$gcc",
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      {
        "label": "purge",
        "detail": "Purge workspace by deleting all generated files.",
        "type": "shell",
        "command": "rm -fr build install log; py3clean .",
        "problemMatcher": [],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      // Linting and static code analysis tasks
      {
        "label": "fix",
        "detail": "Reformat files with uncrustify.",
        "type": "shell",
        "command": "ament_uncrustify --reformat src/",
        "problemMatcher": [],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      {
        "label": "uncrustify",
        "detail": "Lint files with uncrustify.",
        "type": "shell",
        "command": "ament_uncrustify src/",
        "presentation": {
          "panel": "dedicated",
          "reveal": "silent",
          "clear": true
        },
        "problemMatcher": [
          {
            "owner": "uncrustify",
            "source": " uncrustify",
            "fileLocation": "relative",
            "pattern": [
              /// just the file name message
              {
                "regexp": "^(.*)'(.*)':",
                "kind": "file",
                "file": 2,
                "message": 1
              },
            ]
          }
        ],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      {
        "label": "cpplint",
        "detail": "Lint files with cpplint.",
        "type": "shell",
        "command": "ament_cpplint src/",
        "presentation": {
          "panel": "dedicated",
          "reveal": "silent",
          "clear": true
        },
        "problemMatcher": [
          {
            "owner": "cpplint",
            "source": " cpplint",
            "fileLocation": "absolute",
            "pattern": [
              {
                "regexp": "^(.+):(\\d+):\\s+(.+)\\[(.+)\\]$",
                "file": 1,
                "line": 2,
                "message": 3,
                "code": 4
              }
            ]
          }
        ],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      {
        "label": "cppcheck",
        "detail": "Run static code checker cppcheck.",
        "type": "shell",
        "command": "ament_cppcheck src/",
        "presentation": {
          "panel": "dedicated",
          "reveal": "silent",
          "clear": true
        },
        "problemMatcher": [
          {
            "owner": "cppcheck",
            "source": "cppcheck",
            "pattern": [
              {
                "regexp": "^\\[(.+):(\\d+)\\]:\\s+(.+)$",
                "file": 1,
                "line": 2,
                "message": 3
              }
            ]
          }
        ],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      {
        "label": "lint_cmake",
        "detail": "Run lint on cmake files.",
        "type": "shell",
        "command": "ament_lint_cmake src/",
        "presentation": {
          "panel": "dedicated",
          "reveal": "silent",
          "clear": true
        },
        "problemMatcher": [
          {
            "owner": "lint_cmake",
            "source": "lint_cmake",
            "pattern": [
              {
                "regexp": "^(.+):(\\d+):\\s+(.+)$",
                "file": 1,
                "line": 2,
                "message": 3
              }
            ]
          }
        ],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      {
        "label": "flake8",
        "detail": "Run flake8 on python files.",
        "type": "shell",
        "command": "ament_flake8 src/",
        "presentation": {
          "panel": "dedicated",
          "reveal": "silent",
          "clear": true
        },
        "problemMatcher": [
          {
            "owner": "flake8",
            "source": "flake8",
            "pattern": [
              {
                "code": 4,
                "column": 3,
                "file": 1,
                "line": 2,
                "message": 5,
                "regexp": "^(.+):(\\d+):(\\d+): (\\w\\d+) (.+)$"
              }
            ]
          }
        ],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      {
        "label": "pep257",
        "detail": "Run pep257 on python files.",
        "type": "shell",
        "command": "ament_pep257 src/",
        "presentation": {
          "panel": "dedicated",
          "reveal": "silent",
          "clear": true
        },
        "problemMatcher": [
          {
            "owner": "pep257",
            "source": "pep257",
            "pattern": [
              {
                "regexp": "^(.+):(\\d+)\\s+(.+):\\s+(.+):\\s+(.+)$",
                "file": 1,
                "line": 2,
                "code": 4,
                "message": 5
              }
            ]
          }
        ],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      {
        "label": "xmllint",
        "detail": "Run xmllint on xml files.",
        "type": "shell",
        "command": "ament_xmllint src/",
        "presentation": {
          "panel": "dedicated",
          "reveal": "silent",
          "clear": true
        },
        "problemMatcher": [
          {
            "owner": "xmllint",
            "source": "xmllint",
            "fileLocation": "absolute",
            "pattern": [
              {
                "regexp": "^(.+):(\\d+):\\s+(.+)\\s+:\\s+(.+)$",
                "file": 1,
                "line": 2,
                "code": 3,
                "message": 4
              }
            ]
          }
        ],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      {
        "label": "lint all",
        "detail": "Run all linters.",
        "dependsOn": [
          "cppcheck",
          "cpplint",
          "flake8",
          "lint_cmake",
          "pep257",
          "xmllint",
          "uncrustify"
        ],
        "problemMatcher": [],
      },
      // Workspace editing tasks
      {
        "label": "new ament_cmake package",
        "detail": "Create a new ROS cpp package from a template.",
        "type": "shell",
        "command": "ros2 pkg create --destination-directory src --build-type ament_cmake ${input:package}",
        "problemMatcher": [],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      {
        "label": "new ament_python package",
        "detail": "Create a new ROS python package from a template.",
        "type": "shell",
        "command": "ros2 pkg create --destination-directory src --build-type ament_python ${input:package}",
        "problemMatcher": [],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      {
        "label": "import from workspace file",
        "detail": "Use vcs to import modules specified by a workspace/rosinstall file.",
        "type": "shell",
        "command": "vcs import < src/ros2.repos src",
        "problemMatcher": [],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      {
        "label": "update workspace file",
        "detail": "Use vcs to update repositories in src to workspace file.",
        "type": "shell",
        "command": "vcs export src > src/ros2.repos",
        "problemMatcher": [],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      {
        "label": "install dependencies",
        "detail": "Install all dependencies specified in the workspaces package.xml files.",
        "type": "shell",
        "command": "sudo apt-get update && rosdep update && rosdep install --from-paths src --ignore-src -y",
        "problemMatcher": [],
        "options": {
          "cwd": "${env:COLCON_WORKSPACE_FOLDER}"
        },
      },
      // File editing tasks
      {
        "label": "add copyright",
        "detail": "Add copyright notice to the active file.",
        "type": "shell",
        "command": "echo ' ' >> ${file} && ament_copyright --add-missing 'Open Rise Robotics' apache2 ${file} && sed -i '$ d' ${file}",
        "problemMatcher": [],
      }
    ],
    "inputs": [
      {
        "id": "package",
        "type": "promptString",
        "description": "Package name"
      }
    ]
  },
}