1.安装Java8、Eclipse Neon

sudo add-apt-repository ppa:webupd8team/java sudo apt-get update sudo apt-get install oracle-java8-installer //sudo apt-get install oracle-java8-set-default //Eclips下载地址：http://www.eclipse.org/downloads/ //移动eclipse压缩包到 /opt 目录并解压 //创建一个链接，给所有用户使用 sudo ln -s /opt/eclipse/eclipse /usr/bin/eclipse

2.生成Eclipse项目文件

mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src catkin_init_workspace cd ~/catkin_ws catkin_make cd ~/catkin_ws/src catkin_create_pkg fisrt_pkg std_msgs roscpp cd ~/catkin_ws catkin_make --force-cmake -G"Eclipse CDT4 - Unix Makefiles" //项目的文件在 /catkin_ws/build中

3.导入项目

1.启动eclipse; 2.选择catkin_ws文件夹作为工作空间； 3.导入项目

选择File --> Import --> General --> Existing Projects into Workspace -->Browse..（选择从~/catkin_ws/build导入项目）

4.添加预编译头文件的路径

Project --> Properties --> C/C++ General --> Preprocessor Include Paths, Macros, etc. --> Providers --> 勾选CDT GCC Built-in Compiler Settings [Shared]

此时项目源文件在项目列表build->Source directory中，在此目录进行开发

5.在Eclipse中运行和调试

//执行 Run --> Run configurations... --> C/C++ Application (double click or click on New) -->Browse.. 添加执行文件（在catkin_ws/devel/lib目录下） //调试（需要到终端中运行） cmake catkin_ws/src -DCMAKE_BUILD_TYPE=Debug