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) ROS2 node",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/install/${input:package}/lib/${input:package}/${input:program}",
            "args": [],
            "preLaunchTask": "source-humble",
            "envFile": "${workspaceFolder}/local_humble_ws.env",
            "stopAtEntry": true,
            "cwd": "${workspaceFolder}",
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
              {
                "description": "Enable pretty-printing for gdb",
                "text": "-enable-pretty-printing",
                "ignoreFailures": true
              }
            ]
        },
        {
            "name": "ROS: Attach",
            "type": "ros",
            "request": "attach"
        },
        {
            "name": "ROS: Debug launch",
            "type": "ros",
            "request": "debug_launch",
            "target": "${file}"
        },
        {
            "name": "Python: Current File",
            "type": "python",
            "request": "launch",
            "program": "${file}",
            "console": "integratedTerminal"
        },
        {
            "name": "Python: ROS2 current file",
            "type": "python",
            "preLaunchTask": "source-humble",
            "envFile": "${workspaceFolder}/local_humble_ws.env",
            "request": "launch",
            "program": "${file}",
            "console": "integratedTerminal"
        },
        {
            "name": "Python: ROS2 launch test",
            "type": "python",
            "request": "launch",
            "preLaunchTask": "source-humble",
            "envFile": "${workspaceFolder}/local_humble_ws.env",
            "program": "/opt/ros/humble/bin/launch_test",
            "args": ["${file}"],
            "console": "integratedTerminal"
        }
    ],
    "inputs": [
    {
      "id": "package",
      "type": "promptString",
      "description": "Package name",
      "default": "demo_nodes_cpp"
    },
    {
      "id": "program",
      "type": "promptString",
      "description": "Program name",
      "default": "talker"
    }
  ]
}