ROS Vscode configurarion

c_cpp_properties.json

{
    "configurations": [
        {
            "browse": {
                "databaseFilename": "",
                "limitSymbolsToIncludedHeaders": true
            },
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**",
                "/opt/ros/noetic/include/**",
                "~/catkin_ws/devel/include/**"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "gnu17",
            "cppStandard": "gnu++14",
            "intelliSenseMode": "gcc-x64"
        }
    ],
    "version": 4
}

launch.json

{
    // Use IntelliSense to learn about possible attributes.
    // Hover to view descriptions of existing attributes.
    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "name": "(gdb) launch",
            "type": "cppdbg",
            "request": "launch",
            "program": "${env:HOME}/catkin_ws/devel/lib/${workspaceFolderBasename}/${fileBasenameNoExtension}",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "preLaunchTask": "prerun",
            "MIMode": "gdb",
            "targetArchitecture": "x64",
            "avoidWindowsConsoleRedirection": true,
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        }
    ]
}

tasks.json

{
    // See https://go.microsoft.com/fwlink/?LinkId=733558
    // for the documentation about the tasks.json format
    "version": "2.0.0",
    "tasks": [
        {
            "label": "prerun",
            "type": "shell",
            "dependsOn": [
                "build package only"
            ],
            "command": "source ../../devel/setup.bash && export ROS_MASTER_URI=http://localhost:11311/ "
        },
        {
            "label": "build all packages",
            "type": "shell",
            "command": "cd ~/catkin_ws/ && catkin config --extend /opt/ros/noetic && catkin build -DCMAKE_BUILD_TYPE=Debug -j8",
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "problemMatcher": []
        },
        {
            "label": "build package only",
            "type": "shell",
            "command": "cd ~/catkin_ws/ && catkin config --extend /opt/ros/noetic && catkin build ${workspaceFolderBasename} -DCMAKE_BUILD_TYPE=Debug -j8",
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "problemMatcher": []
        },
        {
            "label": "clean",
            "type": "shell",
            "command": "cd ~/catkin_ws/ && catkin clean --yes"
        },
        {
            "label": "release",
            "type": "shell",
            "command": "sudo checkinstall --install=no catkin build -j4 --cmake--args -DCMAKE_BUILD_TYPE=Release"
        }
    ]
}

All files for Build, Run and debug any ROS files. Without and no external plugin, if use kinetic ou melodic, replace in the source files "noetic" for your ROS version.

My Build tasks use catkin build, but if your use catkin_make, change the task files for catkin_make commands

For intelliSenseEngine autocomplete correct, set "C_Cpp.intelliSenseEngine": "Tag Parser"

For debug click in the ROS Nodo file and press F5: