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": [
    // Example launch of a python file
    {
      "name": "Python: Current File",
      "type": "python",
      "request": "launch",
      "program": "${file}",
      "console": "integratedTerminal",
    },
    // Example gdb launch of a ros executable
    {
      "name": "(gdb) Launch",
      "type": "cppdbg",
      "request": "launch",
      "program": "${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
        }
      ]
    }
  ],
  "inputs": [
    {
      "id": "package",
      "type": "promptString",
      "description": "Package name",
      "default": "examples_rclcpp_minimal_publisher"
    },
    {
      "id": "program",
      "type": "promptString",
      "description": "Program name",
      "default": "publisher_member_function"
    }
  ]
}