Detailed explanation of the installation and configuration of ROS in CLion2020.1.3 under ubuntu20.04

1. Download, install and activate CLion

Just follow the tutorials given online

2. Configure ROS

1. Configure CLion startup mode

Open the hidden file .bashrc in the home directory, the command is: sudo gedit ~/.bashrc Set the path of CLion's startup file clion.sh to the environment variable PATH. In this way, in the terminal, you can enter clion.sh to start CLion no matter which working directory you are in.
The code for the setup is:

export PATH=/home/zyw/CLionPack/clion-2020.1.3/bin:$PATH This path is the path where CLion is installed. Different people may install it in different paths. Then source ~/.bashrc

Other tutorials on the Internet will say that each time you start clion, you must first enter the ROS workspace, execute "source devel/setup.bash", and then run clion.sh. Personally, I feel that this method is very cumbersome. You can source the system environment when you click the clion icon to start.

Find jetbrains-clion.desktop. If you can’t find it, you can search it. Then open it with gedit and change Exec="/home/zyw/clion-2020.1.3/bin/clion.sh" %f to Exec=bash -i -c “/home/zyw/clion-2020.1.3/bin/clion.sh” %f

2. Set CLion's CMake to local CMake

Type clion.sh in the terminal or click its icon to open CLion, open toolschain in build in setting: Set CMake Debugger

3. Create a ROS workspace and function package

This is relatively simple. You can refer to other tutorials on the Internet. In order to avoid running the setup.sh file in the following devel folder every time you open the terminal, you also need to write the path of setup.sh into the bashrc file. The command is:

source /home/zyw/ws_livox/devel/setup.bash

Then source ~/.bashrc

4. Start CLion in the current workspace and set the ROS working path

Also open the setting and go to the build option, select the CMake option and set the value of -DVAR_NAME in the CMake options space. Here, set the devel folder of the current ROS workspace. This folder is mainly used to store some executable files.

The path to be set is: -DVAR_NAME=/home/zyw/ws_livox/devel
Then set the generation path to: the build folder of the current workspace, this folder is mainly used to store some intermediate files generated by compilation. My path is /home/zyw/ws_livox/build

After setting these, you can basically compile and run ROS normally!

PS: According to the installation tutorial on the wiki, CLion can also install some ROS plug-ins to run some ROS nodes, but I haven’t figured out the specific functions and uses yet, and I’m just getting started with ROS.

Summarize

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