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I wrote a short tutorial on this (and also on using CodeBlocks, but QtCreator seems much more responsive).

In short:

• Replace the src/CMakeLists.txt symlink with an actual file
• Open qtcreator from the console.
• File -> “Open File or project…“, then pick ~/catkin_ws/src/CMakeLists.txt and set the build dir to ~/catkin_ws/build/

• Select the tab Projects -> Build Settings and add these CMake arguments:

  -DCMAKE_INSTALL_PREFIX=../install -DCATKIN_DEVEL_PREFIX=../devel

• Close & reopen qtcreator (from a console where you sourced ROS setup.bash!) to make sure it generates the project.

• Ready to go!