launch.json

{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "Pico Debug",
            "cwd": "${workspaceRoot}",
            "executable": "${command:cmake.launchTargetPath}",
            "request": "launch",
            "type": "cortex-debug",
            "servertype": "openocd",
            "serverpath": "/home/alejandro/pico/openocd_pico/src/openocd",
            // This may need to be arm-none-eabi-gdb depending on your system
            "gdbPath" : "arm-none-eabi-gdb",
            "device": "Pico2040",
            "configFiles": [
                "/home/alejandro/pico/openocd_pico/tcl/interface/picoprobe.cfg",
                "/home/alejandro/pico/openocd_pico/tcl/target/rp2040.cfg"
            ],
            "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd",
            "runToMain": true,
            "searchDir": ["/home/alejandro/pico/openocd/tcl"],
            // Work around for stopping at main on restart
            "postRestartCommands": [
                "break main",
                "continue"
            ]
        }
    ]
}