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如上述报错的问题，我最终的解决办法是重装vscode。

我的问题是在终端输入 code .

是打不开终端的，重装之后就能调试成功。

Vscode 调试Vins-Mono：主要配置3个文件

1.c_cpp_properties.json:

{
  "configurations": [
    {
      "browse": {
        "databaseFilename": "",
        "limitSymbolsToIncludedHeaders": true
      },
      "includePath": [
        "/opt/ros/melodic/include/**",
        "/home/hcl/vins/src/VINS-Mono/camera_model/include/**",
        "/usr/include/**"
      ],
      "name": "ROS",
      "intelliSenseMode": "gcc-x64",
      "compilerPath": "/usr/bin/g++",
      "cStandard": "c11",
      "cppStandard": "c++17" ,       
      "compileCommands": "${workspaceFolder}/build/compile_commands.json"

    }
  ],
  "version": 4
}

2.launch.json

{
    // 使用 IntelliSense 了解相关属性。 
    // 悬停以查看现有属性的描述。
    // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "name": "feature_tracker",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/devel/lib/feature_tracker/feature_tracker",
            "args": ["_config_file:=${workspaceFolder}/src/VINS-Mono/config/euroc/euroc_config.yaml", "_vins_folder:=${workspaceFolder}/src/VINS-Mono/"],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "为 gdb 启用整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        },
        {
            "name": "vins_estimator",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/devel/lib/vins_estimator/vins_estimator",
            "args": ["_config_file:=${workspaceFolder}/src/VINS-Mono/config/euroc/euroc_config.yaml", "_vins_folder:=${workspaceFolder}/src/VINS-Mono/"],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        },
        {
            "name": "pose_graph",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/devel/lib/pose_graph/pose_graph",
            "args": ["_config_file:=${workspaceFolder}/src/VINS-Mono/config/euroc/euroc_config.yaml", "_visualization_shift_x:=0", "_visualization_shift_y:=0", "_skip_cnt:=0", "_skip_dis:=0"],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ]
        }

    ]
}

3.tasks.json

{
	"version": "2.0.0",
	"tasks": [
		{
			"type": "catkin_make_isolated",
			"args": [
				"--directory",
				"/home/hcl/vins",
				"-DCMAKE_BUILD_TYPE=RelWithDebInfo"
			],
			"problemMatcher": [
				"$catkin-gcc"
			],
			"group": {
				"kind": "test",
				"isDefault": true
			},
			"label": "catkin_make_isolated: build"
		}
	]
}

终端输入：

roslaunch vins_estimator vins_rviz.launch

rosbag play ~/vins/MH_01_easy.bag