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When you open the CMakeLists.txt file generated by roscreate-pkg, it should contain the following lines:

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

Just uncomment the line set(ROS_BUILD_TYPE RelWithDebInfo) and set it to

set(ROS_BUILD_TYPE Debug)