launch.json

{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "(gdb) Attach",
            "type": "cppdbg",
            "request": "attach",
            "program": "/apollo/bazel-bin/cyber/mainboard.runfiles/apollo/cyber/mainboard",
            "processId": "${command:pickProcess}",
            "MIMode": "gdb",
            "sourceFileMap": {
                "/proc/self/cwd": "/apollo"
            },
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        },
        {
            "name": "(gdb) Launch",
            "type": "cppdbg",
            "request": "launch",
            "program": "/apollo/bazel-bin/cyber/mainboard.runfiles/apollo/cyber/mainboard",
            "args": [ "-d", "/apollo/modules/planning/dag/planning.dag", "-p", "planning", "-s", "CYBER_DEFAULT"],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        }
      
    ]
}