.. _ros-cpp-clion:

Index ROS2 in JetBrains (Clion & PyCharm)
================================================
When your environment is properly indexed, you will be able to see the type and usage of a certain bit of text in the rest of the code. It makes finding dependencies a lot easier and less confusing. In Visual Studio Code, this is partly done by sourcing, but in CLion and PyCharm, it needs a bit of setting up. Use the following guides for that.

Index ROS2 in Clion
^^^^^^^^^^^^^^^^^^^^^^^^^^
To get code completion and static analysis for ROS code to work, you need to open Clion a bit differently than usual.

First thing you need is to make sure you have a :code:`compile_commands.json` file in the build folder of either ROS2.
This should be the case if the code is built with docker. If this is not the case, see
`jetbrains clion ros setup tutorial <https://www.jetbrains.com/help/clion/ros-setup-tutorial.html>`_.

If there is already such a file, continue with the following steps:

#. Open a new terminal and source ROS2 (type :code:`sfox`).
#. Open clion (type :code:`clion`)
    * Tip: you can type :code:`clion > /dev/null 2> /dev/null & disown` to be able to close the terminal, and not output any information to the terminal.
#. OpenROS2 by opening the :code:`compile_commands.json` file, and click on 'Open as Project'.   * ROS1 open: :code:`~/march/ros1/build/compile_commands.json`
    * ROS2 open: :code:`~/march/ros2/build/compile_commands.json`
#. After the project is opened change your repository root:
    #. Click on 'Tools' in the top of clion (in the row of 'File Edit View ...')
    #. Hover over 'Compilation Database'
    #. Click on 'Change Project Root', and select March.

Now Clion should have correctly indexed your ROS2. Good luck and have fun with "popping code".

Index ROS2 in PyCharm
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
To get code completion and static analysis for ROS code to work, you need to open PyCharm a bit differently than usual.

First-time setup steps:

#. Create a virtual environment with the bash script.
    #. :code:`cd march`
    #. :code:`bash create_venv.sh -n -clean`
        * The :code:`-n` erases the one if there is already there.
        * The :code:`-clean` redownloads the packages that are not installed by 'apt'
#. Build your ros source code :code:`march_build`.
#. Source the virtual environment and ROS
    #. :code:`svenv` or :code:`source ~/march/.venv_march/bin/activate`
    #. source ROS (:code:`sfox`)
        * For ROS2: :code:`sfox`
#. Open PyCharm with :code:`pycharm-professional`. (Important: **Do this in the same terminal as step 3**).
 * Tip: you can type :code:`pycharm-professional > /dev/null 2> /dev/null & disown` to be able to close the terminal, and not output any information to the terminal.
#. Select folder for ROS2.
#. Exclude parts of the built march code to prevent duplicate code fragment errors:
    #. Go to File | Settings | Project: ros2 | Project Structure:
        #. Click on *File* in the top left of pycharm.
        #. Click on *Settings* in the dropdown menu of *File*.
        #. Go to *Project: [name of project]" -> "project settings*.
    #. Select "build", "log", "install" and click on *Excluded*.
        Now on the left you will see these folders as excluded,
        and you will also see some files in the install folder listed as *source*.

For everyday startup, start the pycharm up as in step 3 & 4.