diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 000000000..890d8914a
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,7 @@
+{
+    "C_Cpp.default.compileCommands": "${config:cmake.buildDirectory}/compile_commands.json",
+    "cmake.mergedCompileCommands": "${config:cmake.buildDirectory}/compile_commands.json",
+    "clangd.arguments": [
+        "--compile-commands-dir=${config:cmake.buildDirectory}/"
+    ],
+}
diff --git a/cmake/RobotologySuperbuildOptions.cmake b/cmake/RobotologySuperbuildOptions.cmake
index b53ae155e..607d0574a 100644
--- a/cmake/RobotologySuperbuildOptions.cmake
+++ b/cmake/RobotologySuperbuildOptions.cmake
@@ -3,6 +3,9 @@
 
 set(YCM_USE_CMAKE_PROPOSED TRUE CACHE BOOL "Use files including unmerged cmake patches")
 
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE BOOL "Enable/Disable output of compile commands during generation.")
+mark_as_advanced(CMAKE_EXPORT_COMPILE_COMMANDS)
+
 # YCM options
 option(YCM_DISABLE_SYSTEM_PACKAGES "Disable use of all the system installed packages" ON)