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As discussed here, the following is needed:

1. Place your module in <ws>/src/<pkg-name>/src/<pkg-name>
2. Create an empty file <ws>/src/<pkg-name>/src/<pkg-name>/__init__.py

3. Create <ws>/src/<pkg-name>/setup.py with

    
   from distutils.core import setup
   from catkin_pkg.python_setup import generate_distutils_setup
    
   setup_args = generate_distutils_setup()
   setup_args['packages'] = ['<pkg-name>']
   setup_args['package_dir'] = {'': 'src'}
    
   setup(**setup_args)
   

4. Add catkin_python_setup() to <ws>/src/<pkg-name>/CMakeLists.txt
5. Build workspace with catkin_make
6. Open <ws> in VS Code with ROS and Pylint extensions installed
7. Add src/<pkg-name>/srcto "python.autoComplete.extraPaths" in <ws>/.vscode/settings.json

As discussed here, the following is needed:

1. Place your module in <ws>/src/<pkg-name>/src/<pkg-name>
2. Create an empty file <ws>/src/<pkg-name>/src/<pkg-name>/__init__.py

3. Create <ws>/src/<pkg-name>/setup.py with

    
   from distutils.core import setup
   from catkin_pkg.python_setup import generate_distutils_setup
    
   setup_args = generate_distutils_setup()
   setup_args['packages'] = ['<pkg-name>']
   setup_args['package_dir'] = {'': 'src'}
    
   setup(**setup_args)
   

4. Add catkin_python_setup() to <ws>/src/<pkg-name>/CMakeLists.txt
5. Build workspace with catkin_make
6. Open <ws> in VS Code with ROS and Pylint extensions installed
7. Add src/<pkg-name>/src to "python.autoComplete.extraPaths" in <ws>/.vscode/settings.json