{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "ROS: Attach to planner (gdbserver)",
            "type": "cppdbg",
            "request": "launch",
            "miDebuggerServerAddress": "localhost:3000",
            "program": "/home/wc/phd/mine_planning/ros_ws/devel/lib/path_planner/path_planner_demo",
            "cwd": "/home/wc/phd/mine_planning/ros_ws/src/path_planner",
            "MIMode": "gdb",
            "miDebuggerPath": "/usr/bin/gdb",
            "setupCommands": [
                {
                    "description": "为 gdb 启用整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                },
                {
                    "description": "允许任意路径的 auto-load 脚本",
                    "text": "set auto-load safe-path /",
                    "ignoreFailures": true
                },
                {
                    "description": "显式注册 libstdc++ 整齐打印器（remote 调试下 auto-load 可能不触发）",
                    "text": "python import sys; sys.path.insert(0, '/usr/share/gcc/python'); from libstdcxx.v6.printers import register_libstdcxx_printers; register_libstdcxx_printers(None)",
                    "ignoreFailures": true
                }
            ]
        }
    ]
}