ROS2 + Clion

Next Generation ROS
2

I have now also found a way to load a whole ROS2 workspace into Clion. At least code browsing is now made easy.

a) You first need to compile ros_ws with ament: https://github.com/ros2/ros2/wiki/Linux-Development-Setup.

b) Second you need to prepare you top level CMakeLists.txt file:

  • cd ros_ws
  • find src -name CMakeLists.txt -not -name setup.py -print0 | xargs -0 -n1 dirname | sort --unique
  • after I manually removed all fastRTPS subfolders and test subfolders
  • I also skipped all ament_* folders
  • I used emacs to replace ./ with add_subdirectory and to add ) at the end of every line (replace-string, C-q C-j)

c) Put this CMakeLists.txt into your ros_ws.

d) Comment out the following line in ament_cmake_core/ament_cmake_uninstall_target-extras.cmake:

=== ./src/ament/ament_cmake (git) ===
diff --git a/ament_cmake_core/ament_cmake_uninstall_target-extras.cmake b/ament_cmake_core/ament_cmake_uninstall_target-extras.cmake
index f6805e8..c89f289 100644
--- a/ament_cmake_core/ament_cmake_uninstall_target-extras.cmake
+++ b/ament_cmake_core/ament_cmake_uninstall_target-extras.cmake
@@ -32,6 +32,6 @@ if(AMENT_CMAKE_UNINSTALL_TARGET)
   )

   # register uninstall target to run generated CMake script
-  add_custom_target(uninstall
-    COMMAND ${CMAKE_COMMAND} -P "${AMENT_CMAKE_UNINSTALL_TARGET_UNINSTALL_SCRIPT}")
+#  add_custom_target(uninstall
+#    COMMAND ${CMAKE_COMMAND} -P "${AMENT_CMAKE_UNINSTALL_TARGET_UNINSTALL_SCRIPT}")
 endif()

e)

$ source ~/ros_ws/build/rclcpp/cmake__build.sh #this will setup your environment
$ clion # go to File => Open => ~/ros2_ws/CMakeLists.txt => click OK

f)
Disable BUILD_TESTING:

In Clion File => Settings => Build, Execution, Deployment => CMake => Cmake options: -DBUILD_TESTING=OFF

g)
You can right click on the Clion project => Reload CMake Project. There will be some warnings about missing OpenSplice dependecies which you can safely ignore.

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