单步调试程序：
https://blog.csdn.net/qq_23867503/article/details/104559373
多文件调试程序
https://blog.csdn.net/zhulinmanbu114/article/details/90754803
ros下的调试vscode
https://blog.csdn.net/try_again_later/article/details/106916282?utm_medium=distribute.pc_aggpage_search_result.none-task-blog-2~all~first_rank_v2~rank_v25-2-106916282.nonecase&utm_term=vscode%20%E8%BF%9B%E8%A1%8Cros%E6%96%AD%E7%82%B9%E8%B0%83%E8%AF%95
callback时候需要话题的订阅，还是需要外部的输入的，需要rosbag play
