创建一个rosclion目录:
cd rosclion
mkdir -p ros_workspace/src
cd ros_workspace
catkin_make
在src中创建package:
cd src
catkin_create_pkg my_package roscpp rospy std_msgs
回到workspace并配置环境:
cd ..
source ./devel/setup.bash
同一个终端中打开clion:
sh YOUR_CLION/bin/clion.sh
启动后进入CLION界面
设置配置:左上角file-settings-Build-Cmake中 Build directory设置为YOUR_HOME/rosclion/ros_workspace/build, CMake options中添加 -
DCATKIN_DEVEL_PREFIX:PATH=
YOUR_HOME/rosclion/ros_workspace/devel
在my_package/src中可以创建c/c++的source文件写入node代码了,例如创建了一个my_package.cpp,在前一个目录下的CMakeLists中可以添加:
add_executable(my_package src/my_package.cpp)
target_link_libraries(my_package ${catkin_LIBRARIES})
外部的Cmakelists右键reload,src右键reload,开启roscore就可以运行my_package.cpp