• To be a template for developing ros2 gazebo extensions in vscode
• To facilitate the setup of gzserver/gzclient, ros2 launch, gdb, sdf files, shared libraries, cmake files and everything else that is needed for ros2 gazebo development in vscode
• To be a playground for modifications of the plugin

• vscode folder

  • launch.json - launch debug configurations for developing the plugin
  • tasks.json - tasks for the debug configuration

• ros2 workspace

  • ros2 package "segway"
    • launch - a launch file to run joystick and gzclient
    • src - source file for the plugin
    • gzmodels - gazebo files
      • world
      • model

• ctrl shift p
• select and start debugging
• container/loader

Necessary env settings for ros2 gazebo development:

source /opt/ros/foxy/setup.bash
source ~/segway/install/setup.bash
export GAZEBO_RESOURCE_PATH=/usr/share/gazebo-11/media:/usr/share/gazebo-11/models:/usr/share/gazebo-11/worlds:/usr/share/gazebo-11:${GAZEBO_RESOURCE_PATH}