CLion에서 ROS2 환경 셋팅

ROS2 setup tutorial in CLion

1. Prepare the ROS2 environment
2. Create a directory for a new workspace and navigate into it (e.g. ~/robot_ws)

3. Create an example package

   cd ~/robot_ws && mkdir src && cd src
   ros2 pkg create --build-type ament_cmake my_project

4. Build a workspace in terminal and generate a compilation database

   • Let’s assume that only selected packages are built.

     • --packages-select option

   cd ..
   colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -G Ninja --symlink-install --packages-select my_project

5. When build is finished, make sure that robot_ws\build contains a compile_commands.json file.
6. In CLion, call File - Open from the main menu and select the compile_commands.json file in the top-level build directory
7. Call Tools - Compilation Database - Change Project Root from the main menu and select the workspace directory (robot_ws in our case).

How to build a package

1. Create a script for the colcon build commands

1. Navigate to the build logs directory. In our case, it’s ~/robotws/log/latestbuild my_project. Open the command.log file from the latest build.

2. Copy the commands into another file and modify them to the following:

   #!/bin/zsh
   
   source /opt/ros/humble/setup.zsh
   source ~/robot_ws/install/local_setup.zsh
   CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake ~/robot_ws/build/my_project -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_INSTALL_PREFIX=~/robot_ws/install/my_project
   CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build ~/robot_ws/build/my_project -- -j23 -l23
   CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install ~/robot_ws/build/my_project

3. Save the file as a .zsh script. In our example, it is called cmake_commands.zsh and placed into ~/robot_ws/build/my_project.

4. Make the script executable.

   chmod +x cmake_commands.zsh

2. Create a custom build target

1. In CLion, go to Settings / Preferences - Build, Execution, Deployment - Custom Build Targets and click ’+’ to add a new target.

2. Set each item.

   • Toolchain field: Set the value to default.

   • Build field: Click ’…’ icon to add an external.

     • Program field: Select the newly created script(cmake_commands.zsh).
     • Set the Working directory to the package build directory.
     
3. Save the custom target.

3. Create a run/debug configuration for the custom build target

1. Go to Run - Edit Configurations, click ’+’ and select Custom Build Application.
2. In the configuration settings, select the Target and make sure to remove Build from the Before launch area.

4. Build a package

1. Select the build configuration.
2. Build through the icon.

5. Run/debug a package

1. Open the Edit Configurations dialog again.

2. Modify the configuration for build to the following:

   • Executable field: select binary file or script file.

     • example: ~/robotws/build/myproject/src/rundebugcommands.zsh

       #!/bin/zsh
       
       source /opt/ros/humble/setup.zsh
       source ~/robot_ws/install/local_setup.zsh
       ~/robot_ws/build/manibot_bringup/joy_commander

   • option: Select the Run with Administrator privileges checkbox.
3. After saving the configuration, it is ready to be Run or Debugged.

참고자료

ROS2 setup tutorial in CLion