vscode开发ros2 humble时如何配置才能使所包含路径不报错

要使VSCode开发ROS2 Humble时不报所包含路径错误，您需要在VSCode中进行以下配置：

1. 安装ROS2扩展：在VSCode的扩展商店中搜索“ROS2”，然后安装“ROS2”扩展。

2. 打开ROS2工作区：在VSCode中，选择“文件”->“打开文件夹”，然后选择ROS2工作区文件夹。

3. 配置CMake工具链：在VSCode中，按下“Ctrl+Shift+P”，然后输入“CMake: Edit User-Local CMake Kits”，选择“CMake Kits: Edit User-Local CMake Kits”选项。在弹出的窗口中，添加以下内容：

{
    "name": "ROS2 Humble",
    "toolchainFile": "/opt/ros/humble/share/ament_cmake_core/cmake/ament_toolchain.cmake",
    "cmakeExecutable": "/usr/bin/cmake",
    "buildDirectory": "${workspaceFolder}/build",
    "cmakeArgs": [
        "-DCMAKE_BUILD_TYPE=Debug",
        "-DCMAKE_EXPORT_COMPILE_COMMANDS=ON",
        "-DCMAKE_C_COMPILER=/usr/bin/gcc",
        "-DCMAKE_CXX_COMPILER=/usr/bin/g++",
        "-DTHIRDPARTY=ON"
    ]
}

注意，上述配置中路径可能需要根据您的ROS2安装路径进行更改。

4. 配置include路径：在VSCode中，按下“Ctrl+Shift+P”，然后输入“CMake: Edit User-Local CMake Kits”，选择“CMake Kits: Edit User-Local CMake Kits”选项。在弹出的窗口中，添加以下内容：

{
    "name": "ROS2 Humble",
    "toolchainFile": "/opt/ros/humble/share/ament_cmake_core/cmake/ament_toolchain.cmake",
    "cmakeExecutable": "/usr/bin/cmake",
    "buildDirectory": "${workspaceFolder}/build",
    "cmakeArgs": [
        "-DCMAKE_BUILD_TYPE=Debug",
        "-DCMAKE_EXPORT_COMPILE_COMMANDS=ON",
        "-DCMAKE_C_COMPILER=/usr/bin/gcc",
        "-DCMAKE_CXX_COMPILER=/usr/bin/g++",
        "-DTHIRDPARTY=ON"
    ],
    "environments": [
        {
            "includePath": [
                "${workspaceFolder}/install",
                "${workspaceFolder}/src"
            ]
        }
    ]
}

5. 重新加载配置：在VSCode中，按下“Ctrl+Shift+P”，然后输入“CMake: Reload CMake Project”，选择“CMake: Reload CMake Project”选项。

这样，您就可以在VSCode中开发ROS2 Humble，并且不会出现所包含路径错误。