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ROS2 C++ and Python LSP setup

clangd LSP

  1. make sure you have pulled the latest main

  2. Install the clangd (LLVM) vscode extension (you may be prompted to install clangd if you don't have it installed on your system)

  3. Turn off intellisense from default C/C++ microsoft vscode extension

    • Add the following to your user settings ctrl + shift + p and select Preferences: Open User Settings (JSON)
    • add: "C_Cpp.intelliSenseEngine": "disabled",

  4. If you are setting up clangd for a different repository (such as a TR autonomy training) you should copy the colcon_defaults.yaml from the root of this repository and place it into the root of your other repository. If you are setting up clangd for this TR-Autonomy repository, this is already done for you.]

  5. you will need to colcon build and confirm there is a compile_commands.json file inside the build/ directory

NOTE Clangd only works if you generate a compile_commands.json. The colcon_defaults.yaml file in the root of this project automatically adds the cmake flag to generate this when you run colcon build. If you are setting up clangd for a different repository you should create a colcon_defaults.yaml file in the root of that project.

If you are having issues with clangd try running colcon build again.

you can also try running clangd: Restart Language Server

C++ Formatting

Add the following to your user settings.json (ctrl + shift + p and select Preferences: Open User Settings (JSON))

    "[cpp]": {
        "editor.defaultFormatter": "llvm-vs-code-extensions.vscode-clangd"
    },

optionally also add the following to save on format

    "editor.formatOnSave": true,

Python

  1. Install the Python and Pylance extensions by microsoft

  2. install Robot Developer Extensions for Ros2 by Ranch Hand Robotics LLC extension

  3. run ROS2: Update Python Path (you may need to run this periodically when you add new files or make major changes)

  4. you can verify it worked by checking .vscode/settings.json and seeing it has added python auto complete and analysis extra paths.

  5. you should now have type hints for ros msg definitions and custom msg definitions like tr_messages inside python!

Details and extra info

  • there is a colcon_defaults.yaml that passes the cmake arg -DCMAKE_EXPORT_COMPILE_COMMANDS=ON by default if you run colcon build

  • formatting style guide can be found inside the .clang-format file