launch.json

{
  // 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": [

    // Attach to a running process.
    // Needs the line below in the
    // source code.
    {
      "name": "Python: Attach",
      "type": "python",
      "request": "attach",
      "connect": {
        "host": "localhost",
        "port": 5678
      }
      // debugpy.listen(5678)
      // print("Waiting for debugger attach")
      // debugpy.wait_for_client()
      // debugpy.breakpoint()
      // print('break on this line')
    },

    // Example gdb launch of a ros executable
    {
      "name": "(gdb) Launch (merge-install)",
      "type": "cppdbg",
      "request": "launch",
      "program": "${workspaceFolder}/install/lib/${input:package}/${input:program}",
      "args": [],
      "preLaunchTask": "build",
      "stopAtEntry": true,
      "cwd": "${workspaceFolder}",
      "externalConsole": false,
      "MIMode": "gdb",
      "setupCommands": [
        {
          "description": "Enable pretty-printing for gdb",
          "text": "-enable-pretty-printing",
          "ignoreFailures": true
        }
      ]
    },
    {
      "name": "(gdb) Launch (isolated-install)",
      "type": "cppdbg",
      "request": "launch",
      "program": "${workspaceFolder}/install/${input:package}/lib/${input:package}/${input:program}",
      "args": [],
      "preLaunchTask": "build",
      "stopAtEntry": true,
      "cwd": "${workspaceFolder}",
      "externalConsole": false,
      "MIMode": "gdb",
      "setupCommands": [
        {
          "description": "Enable pretty-printing for gdb",
          "text": "-enable-pretty-printing",
          "ignoreFailures": true
        }
      ]
    },
    //Example of a ROS Launch file
    {
      "name": "ROS: Launch File (merge-install)",
      "type": "ros",
      "request": "launch",
      "preLaunchTask": "build",
      "target": "${workspaceFolder}/install/share/${input:package}/launch/${input:ros_launch}",
    },
    {
      "name": "ROS: Launch File (isolated-install)",
      "type": "ros",
      "request": "launch",
      "preLaunchTask": "build",
      "target": "${workspaceFolder}/install/${input:package}/share/${input:package}/launch/${input:ros_launch}",
    },
  ],
  "inputs": [
    {
      "id": "package",
      "type": "promptString",
      "description": "Package name",
      "default": "examples_rclcpp_minimal_publisher"
    },
    {
      "id": "program",
      "type": "promptString",
      "description": "Program name",
      "default": "publisher_member_function"
    },
    {
      "id": "ros_launch",
      "type": "promptString",
      "description": "ROS launch name",
      "default": "file_name_launch.py"
    }
  ]
}