CLion远程Docker调试ROS(交叉编译)的设置步骤

准备一个好用的docker，运行起来（Docker Image一定可以跑cuda和图形界面的，否则启动不了CLion，可以不用浪费时间看本教程了）
在docker镜像中配置好ssh和rsync，我的 /etc/ssh/sshd_config 配置是：

Port 2222
PasswordAuthentication yes
PermitEmptyPasswords no
PermitRootLogin yes
UsePAM no
Subsystem sftp internal-sftp
Match Group remote_user
    ChrootDirectory /
    ForceCommand internal-sftp
    AllowTcpForwarding no
    X11Forwarding no

启动镜像后，建议重新启动ssh和rsync，否则比较容易出错，有好的建议可以评论交流哈~

service ssh restart
service rsync restart

先用CLion 在docker里面下载CLion EAP，如图

下载好之后，点进去，会弹出权限不够， Read-Only问题，容易卡在这里，推不下去。

之所以要推，是因为需要用ROS1生成的CMakeLists.txt文件，而该文件是一个软链接，不是实际的文件，本地Local CLion环境无法Load，显示

CMakeLists.txt not found in /home/shanph/Documents/ros1_ws/cross_ws/src Select CMakeLists.txt

[Failed to reload]

而docker已经安装好ROS和交叉编译环境，所以需要docker里面的环境来启动之后可以用CLion编译和调试，但是配置了CLion的Tools里面development，无数次重置SFTP和Resync都不行之后，只能另辟蹊径了，网上的资料也很少。

解决办法

找到上述步骤3中下载的CLion EAP在docker中的存放位置，一般是/home/<user_name>文件夹下的.cache文件夹，比如我就是：

/home/remote_user/.cache/JetBrains/RemoteDev/dist/f8ec2e0a71d00_CLion-231.7665.29/bin

进入该文件夹，直接在Docker Terminal中启动./clion.sh，注意不要在PC上操作，而且Docker需要支持图形界面显示，否则无法启动
启动之后打开Project，设置好cmake选项就可以Enjoy your self了，具体配置贴一下，需要用env.sh来配置CLion环境才可以直接用IDE编译和调试ROS程序。

CMAKE_PREFIX_PATH=/workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/aarch64-rockchip-linux-gnu/sysroot:/workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/aarch64-rockchip-linux-gnu/sysroot/usr:/workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/aarch64-rockchip-linux-gnu/sysroot/opt/ros/indigo/;LD_LIBRARY_PATH=/workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/aarch64-rockchip-linux-gnu/sysroot/lib:/workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/aarch64-rockchip-linux-gnu/sysroot/usr/lib:/workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/aarch64-rockchip-linux-gnu/sysroot/opt/ros/indigo/lib;PKG_CONFIG_PATH=/workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/aarch64-rockchip-linux-gnu/sysroot/usr/lib/pkgconfig:/workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/aarch64-rockchip-linux-gnu/sysroot/opt/ros/indigo/lib/pkgconfig;PYTHONPATH=/workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/aarch64-rockchip-linux-gnu/sysroot/usr/lib/python2.7/site-packages:/workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/aarch64-rockchip-linux-gnu/sysroot/opt/ros/indigo/lib/python2.7/site-packages:/workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/lib/python2.7/site-packages;ROS_DISTRO=indigo;RosToolchainRoot=/workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host;PATH=/home1/heweihong/workspace/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/bin:/home1/heweihong/workspace/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/opt/ros/indigo/bin:/home/shanph/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/binv

-DCMAKE_TOOLCHAIN_FILE=/workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/RosToolchain.cmake

source /workspace/hewh10/robot/rk3566/buildroot/output/rockchip_rk3566_midea/host/RosToolchainSetup.bash && catkin_make -j24 -DCMAKE_TOOLCHAIN_FILE=$ROS_CMAKE_TOOLCHAIN_FILE 2>&1 | tee log.txt