Guy Steele provided the start of the first (in that there were 3 or so visual TECO systems, each with its own key bindings etc., and he got enough people to agree on one), and RMS took off with it and made it into much of what makes EMACS good (minus normal users writing code, since that version was in TECO). I'm sure he contributed to the the Lisp Machine's EMACS, but Dan Weinreb was the major author of its two initial versions (EINE Is Not EMACS, ZWEI Was Eine Initially).
The current EMACS we use was written by an obscure guy at CMI who included a bytecode compiler in it, you might have heard of him, James Gosling ^_^. RMS illicitly started with a copy of this, the rights holders, UniPress, which ran as much as possible then on the "gated community open source" business model, including EMACS, were savvy enough not to try to do anything about this (heck, even in the face of some pretty vicious stuff from RMS, up to and including an face to face accusation that they set his house on fire (it was a couple of kids with matches and ... kerosene as I recall); we did name our Laserprinter "Software Hoarder" :-).
Don't know about gdb, but he does to my knowledge get full credit for starting gcc, the GNU project and of course the GPL, essentially the modern FOSS movement, and it's hard to overstate the value of that.
Disclaimers: acquaintance/sort of friends for a while ... until I went to work for UniPress, I worked for Lisp Machines Inc. (LMI) at a time when he was pretty much the only guy working on the MIT/LMI fork and keeping it fairly close to feature complete with Symbolics, and we were roommates for a few months in the latter part of 1983, starting a bit before the launch of the GNU Project, in that (half of a) house that later was torched.