tasks.json

{
    "tasks": [
        {
            "type": "cppbuild",
            "label": "C/C++: g++ build active file",
            "command": "/usr/bin/g++",
            "args": [
                "-g",
                "${file}",
                "-o",
                "${fileDirname}/${fileBasenameNoExtension}"
            ],
            "options": {
                "cwd": "${fileDirname}"
            },
            "problemMatcher": [
                "$gcc"
            ],
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "detail": "Task generated by Debugger."
        },
        {
            "label": "buildROS2",
            "detail": "Build ROS2 application",
            "type": "shell",
            "command": "source /opt/ros/foxy/setup.bash; colcon build --cmake-args '-DCMAKE_BUILD_TYPE=RelWithDebInfo' -Wall -Wextra -Wpedantic",
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "problemMatcher": "$gcc"
        }
    ],
    "version": "2.0.0"
}