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Reference Dockerfile to get started with Docker or Remote toolchain in CLion.

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ROS2

Dockerfile.ros2

Summary

• Docker image + container
• Auto-Completing + Code hints
• Debugging + Executing

Test environment

Toolchain

In CLion Build, Execution, Deployment | Toolchains choose Docker. Pay attention to:

• Container Settings
  • -u root change to root user. Why? Answer: See here.
  • -i runs docker container in interactive mode, which is essential to get the ros environment variables. Without -i, even entrypoint is set explictly or source /opt/ros/$ROS_DISTRO/setup.bash is added to .bashrc.

CMake Set up:

Environment doesn't need to be manuelly set up.

Dockerfile.ros2-docker-ssh-env

Summary

• Docker image + container + ssh
• Auto-Completing + Code hints

Test environment

Toolchain

In CLion Build, Execution, Deployment | Toolchains choose Remote Host.

CMake Set up:

Pay attention to:

• Environment variables have to be set manuelly. They can be get using a script.

Dockerfile.ros2-docker-ssh-sourced-env

Summary

• Docker image + container + ssh
• Auto-Completing + Code hints
• Debugging + Executing

Test environment

Toolchain

In CLion Build, Execution, Deployment | Toolchains choose Remote Host.

CMake Set up:

Pay attention to:

• Environment variables don't need to be set.

ROS1

Dockerfile.ros-noetic-yaml-docker-ssh-env

Summary

• Docker image + container
• yaml-cpp as third party library
• Auto-Completing + Code hints

Same as ROS2

Dockerfile.ros-noetic-yaml-docker-ssh-sourced-env

Summary

• Docker image + container
• yaml-cpp as third party library
• Auto-Completing + Code hints
• Debugging + Executing

Same as ROS2

Python

An additional python interpreter path must be added.