vscode clangd 保姆教程
vscode clangd 保姆教程
以ubuntu 22.04系统为例。
基础依赖
# ubuntu soft
sudo apt install clangd # 手动安装 vscode# vscode plugin
名称: clangd
ID: llvm-vs-code-extensions.vscode-clangd
VS Marketplace 链接: https://marketplace.visualstudio.com/items?itemName=llvm-vs-code-extensions.vscode-clangd
项目配置
# 项目目录必须结构├── .clangd
├── .clang-format
├── CMakeLists.txt
├── .vscode
│ └── settings.json
└── main.cpp文件 CMakeLists.txt:
cmake_minimum_required(VERSION 3.10)set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON) # 输出 clangd需要的 compile_commands.json文件 .vscode/settings.json：(ros相关路径不需要的可以删除)
{"C_Cpp.intelliSenseEngine": "disabled","C_Cpp.default.compilerArgs": ["--std=c++17"],// sudo apt install clangd"clangd.fallbackFlags": ["-std=c++17", // 指定C++标准"-I${workspaceFolder}/src", // 项目源文件目录"-I${workspaceFolder}/include",//"-I/usr/include",//"-I/usr/include/linux",//"-I/usr/include/c++/11",//"-I/usr/include/x86_64-linux-gnu",//"-I/usr/include/x86_64-linux-gnu/11","-I/opt/ros/humble/include/actionlib_msgs","-I/opt/ros/humble/include/action_msgs","-I/opt/ros/humble/include/action_tutorials_interfaces","-I/opt/ros/humble/include/ament_index_cpp","-I/opt/ros/humble/include/angles","-I/opt/ros/humble/include/builtin_interfaces","-I/opt/ros/humble/include/class_loader","-I/opt/ros/humble/include/composition_interfaces","-I/opt/ros/humble/include/cv_bridge","-I/opt/ros/humble/include/depthimage_to_laserscan","-I/opt/ros/humble/include/diagnostic_msgs","-I/opt/ros/humble/include/example_interfaces","-I/opt/ros/humble/include/fastcdr","-I/opt/ros/humble/include/fastrtps","-I/opt/ros/humble/include/foonathan_memory","-I/opt/ros/humble/include/geometry_msgs","-I/opt/ros/humble/include/image_geometry","-I/opt/ros/humble/include/image_tools","-I/opt/ros/humble/include/image_transport","-I/opt/ros/humble/include/interactive_markers","-I/opt/ros/humble/include/intra_process_demo","-I/opt/ros/humble/include/joy","-I/opt/ros/humble/include/kdl_parser","-I/opt/ros/humble/include/keyboard_handler","-I/opt/ros/humble/include/laser_geometry","-I/opt/ros/humble/include/libstatistics_collector","-I/opt/ros/humble/include/libyaml_vendor","-I/opt/ros/humble/include/lifecycle_msgs","-I/opt/ros/humble/include/logging_demo","-I/opt/ros/humble/include/map_msgs","-I/opt/ros/humble/include/message_filters","-I/opt/ros/humble/include/moodycamel","-I/opt/ros/humble/include/nav_msgs","-I/opt/ros/humble/include/pcl_conversions","-I/opt/ros/humble/include/pcl_msgs","-I/opt/ros/humble/include/pendulum_msgs","-I/opt/ros/humble/include/pluginlib","-I/opt/ros/humble/include/qt_gui_cpp","-I/opt/ros/humble/include/rcl","-I/opt/ros/humble/include/rcl_action","-I/opt/ros/humble/include/rclcpp","-I/opt/ros/humble/include/rclcpp_action","-I/opt/ros/humble/include/rclcpp_components","-I/opt/ros/humble/include/rclcpp_lifecycle","-I/opt/ros/humble/include/rcl_interfaces","-I/opt/ros/humble/include/rcl_lifecycle","-I/opt/ros/humble/include/rcl_logging_interface","-I/opt/ros/humble/include/rcl_yaml_param_parser","-I/opt/ros/humble/include/rcpputils","-I/opt/ros/humble/include/rcutils","-I/opt/ros/humble/include/resource_retriever","-I/opt/ros/humble/include/rmw","-I/opt/ros/humble/include/rmw_dds_common","-I/opt/ros/humble/include/rmw_fastrtps_cpp","-I/opt/ros/humble/include/rmw_fastrtps_shared_cpp","-I/opt/ros/humble/include/robot_state_publisher","-I/opt/ros/humble/include/rosbag2_compression","-I/opt/ros/humble/include/rosbag2_compression_zstd","-I/opt/ros/humble/include/rosbag2_cpp","-I/opt/ros/humble/include/rosbag2_interfaces","-I/opt/ros/humble/include/rosbag2_storage","-I/opt/ros/humble/include/rosbag2_storage_default_plugins","-I/opt/ros/humble/include/rosbag2_transport","-I/opt/ros/humble/include/rosgraph_msgs","-I/opt/ros/humble/include/rosidl_runtime_c","-I/opt/ros/humble/include/rosidl_runtime_cpp","-I/opt/ros/humble/include/rosidl_typesupport_c","-I/opt/ros/humble/include/rosidl_typesupport_cpp","-I/opt/ros/humble/include/rosidl_typesupport_fastrtps_c","-I/opt/ros/humble/include/rosidl_typesupport_fastrtps_cpp","-I/opt/ros/humble/include/rosidl_typesupport_interface","-I/opt/ros/humble/include/rosidl_typesupport_introspection_c","-I/opt/ros/humble/include/rosidl_typesupport_introspection_cpp","-I/opt/ros/humble/include/rqt_gui_cpp","-I/opt/ros/humble/include/rqt_image_view","-I/opt/ros/humble/include/rttest","-I/opt/ros/humble/include/rviz_common","-I/opt/ros/humble/include/rviz_default_plugins","-I/opt/ros/humble/include/rviz_rendering","-I/opt/ros/humble/include/sensor_msgs","-I/opt/ros/humble/include/shape_msgs","-I/opt/ros/humble/include/statistics_msgs","-I/opt/ros/humble/include/std_msgs","-I/opt/ros/humble/include/std_srvs","-I/opt/ros/humble/include/stereo_msgs","-I/opt/ros/humble/include/teleop_twist_joy","-I/opt/ros/humble/include/tf2","-I/opt/ros/humble/include/tf2_bullet","-I/opt/ros/humble/include/tf2_eigen","-I/opt/ros/humble/include/tf2_eigen_kdl","-I/opt/ros/humble/include/tf2_geometry_msgs","-I/opt/ros/humble/include/tf2_kdl","-I/opt/ros/humble/include/tf2_msgs","-I/opt/ros/humble/include/tf2_ros","-I/opt/ros/humble/include/tf2_sensor_msgs","-I/opt/ros/humble/include/tlsf","-I/opt/ros/humble/include/tlsf_cpp","-I/opt/ros/humble/include/tracetools","-I/opt/ros/humble/include/trajectory_msgs","-I/opt/ros/humble/include/turtlesim","-I/opt/ros/humble/include/unique_identifier_msgs","-I/opt/ros/humble/include/urdf","-I/opt/ros/humble/include/urdfdom","-I/opt/ros/humble/include/urdfdom_headers","-I/opt/ros/humble/include/urdf_parser_plugin","-I/opt/ros/humble/include/visualization_msgs"],"clangd.arguments": [//"--all-scopes-completion","--compile-commands-dir=${workspaceFolder}/build", // 查找 compile_commands.json"--background-index","--clang-tidy","--completion-style=detailed","--fallback-style=Microsoft","--function-arg-placeholders=true","--header-insertion=never","--header-insertion-decorators","--enable-config","-j=12","--query-driver=/usr/bin/c++,/usr/bin/g++", // 这个是重点，使用c++/g++进行库文件索引"--pch-storage=memory","--pretty"],"cmake.ignoreCMakeListsMissing": true
}
文件 .clangd:
CompileFlags:Remove: [-march=*, -mabi=*]Diagnostics:# 禁用未使用头文件的警告，这在ROS2项目中很常见UnusedIncludes: NoneClangTidy:Add: - "performance-*"- "modernize-*"- "cppcoreguidelines-*"Remove: - "cert-err58-cpp" # 避免关于静态变量初始化的警告# 启用更详细的代码补全
Completion:AllScopes: true# 后台索引以提高性能
Index:Background: Build
文件 .clang-format:
---
Language: Cpp
BasedOnStyle: Microsoft #Google# 基本设置
ColumnLimit: 180 # 行最大长度
Standard: Auto
TabWidth: 4
UseTab: Never