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一、Launch CLion in the sourced environment

1. 在需要调试的ROS工作空间中运行如下代码

source ./devel/setup.bash

2. 启动CLion在相同的shell里面

sh /home/qian/clion-2019.1.4/bin/clion.sh

二、Open a ROS project in CLion

1. Click File | Open and select CMakeLists.txt in the src directory of your ROS workspace, then choose Open as Project.
   加载成功会显示如下信息
   

三、Set build paths to the catkin workspace

clion默认的build生成路径和终端不同，因此需要设置成同一个
go to File | Settings Ctrl+Alt+S | Build, Execution, Deployment | CMake and change two fields:

• In Generation path, set workspace_folder/build.

• In CMake options , add -DCATKIN_DEVEL_PREFIX:PATH=workspace_folder/devel.

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Clion调试ROS

原文：https://www.cnblogs.com/long5683/p/13235073.html