CLion top level ROS2 Workspace CMakeLists

CMakeLists.txt

cmake_minimum_required(VERSION 3.14)
project("ROS2 Master")

# usually I put this in a separate file include("/opt/ros/_common/Colcon.cmake")
function(colcon_add_subdirectories)
  cmake_parse_arguments(PARSE_ARGV 0 "ARG" "" "BUILD_BASE;BASE_PATHS" "")

  message("search criteria: ${ARGV}")

  execute_process(COMMAND colcon list
		--paths-only
		--base-paths ${ARG_BASE_PATHS}
		--topological-order
		${ARG_UNPARSED_ARGUMENTS}
		OUTPUT_VARIABLE paths)
  string(STRIP "${paths}" paths)
  string(REPLACE "\n" ";" paths "${paths}")

  MESSAGE("colcon shows paths ${paths}")

  foreach(path IN LISTS paths)
    message("...examining ${path}")
    # if(EXISTS "${path}/CMakeLists.txt")
    execute_process(COMMAND colcon info --paths "${path}" OUTPUT_VARIABLE package_info)
    if(NOT "${package_info}" MATCHES "type:[ \t]+(cmake|ros.ament_cmake|ros.cmake)")
      message("skipping non-cmake project")
    elseif(NOT "${package_info}" MATCHES "name:[ \t]+([^ \r\n\t]*)")
      message(WARNING "could not identify package at ${path}")
    else()
      set(name "${CMAKE_MATCH_1}")
      message("...adding package ${name} from path ${path}")
      MESSAGE("package info: ${package_info}")

      get_filename_component(BUILD_PATH "${name}" ABSOLUTE BASE_DIR "${ARG_BUILD_BASE}")

      add_subdirectory("${path}" "${BUILD_PATH}")
    endif()
  endforeach()
endfunction()

colcon_add_subdirectories(
	BUILD_BASE "${PROJECT_SOURCE_DIR}/build"
	BASE_PATHS "${PROJECT_SOURCE_DIR}/src/"
	--packages-select rmw_cyclonedds_cpp performance_test
)

Another smaller issue I have is that the linter/intellisense doesn't find the rclcpp/rclcpp.hpp header. Other ros2 headers are found (e.g. #include "message_filters/subscriber.h" or #include "nav_msgs/msg/grid_cells.hpp"). Might be an issue with the CMakeLists.txt but in case anyone already has an idea let me know.

@janklatte That sounds very similar to the issue I reported here https://youtrack.jetbrains.com/issue/CPP-29747/Certain-ROS2-package-headers-missing-from-Intellisense-when-using-a-Docker-toolchain

Thanks so much for providing this, but I'm having a bit issue with the add_subdirectory. When I was trying to reload this file in Clion, it complained about missing targets like the following. So all I add is a simple_publisher from (https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html. I believe the top-level cmake should invoke all the functionalities from ament_cmake in the ros2 packages but it finds it hard to link the sub-targets.

  Target "simple_publisher" links to target
  "std_msgs::std_msgs__rosidl_generator_c" but the target was not found.
  Perhaps a find_package() call is missing for an IMPORTED target, or an
  ALIAS target is missing?

@Catially I have not been actively working with ROS for some time, so I unfortunately can’t help

@Catially This is a pretty standard error for when GCC isn't aware of where the Ros2 core libraries are. This script will find your source code but it doesnt add the ros2 core libs to gcc builds. Through Jetbrains File | Settings | Build menu you can manually add libs or the easiest way is to source the ros core setup.py then launch clion from the same shell. Thus ros core libs will already be in the build env paths.

Nice script for debugging in CLion!

But there's a tiny defect, seems with the CMakeLists.txt I cannot directly use colcon build anymore, any way to compatable them ?

You probably shouldn't be using this script with colcon. It would mean colcon would assume this script is a package on it's own and include your subprojects in it. Perhaps you could put this script in a top level directory and use it to open with clion, then use colcon on the inner directory with all the subprojects when you want to compile as packages.

THANKS

You can also use the --base-paths src/* colcon argument from your top-level directory in case you have all your ros2 components in a child directory (e.g. src).