While debugging a simple C program, I always get an error saying "Launch: program 'XXX' does not exist"
Note: I already have my compiler - GCC installed & I'm using Ubuntu operating system.

Replace the launch configuration from:
"program": "${workspaceRoot}/helloworld"
with:
"program": "${fileDirname}/helloworld"
This should fix your problem.
Important: Ensure the compiled filename in tasks.json is equivalent to your "program"'s filename.
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