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As far as I understand, you are not missing anything.

The core problem with ROS workflow is that ROS is still very immature when it comes to dependency management and building: you have to manually edit package.xml and CMakeLists.txt for rather simple operations like adding messages. Furthermore, macros like find_package(catkin REQUIRED COMPONENTS ...) are ROS-specific and thus not recognized by traditional Linux C/C++ toolchains.

I failed to find a good CLion plugin working with ROS. Even such primitive operations like debugging are made upside-down: you have to attach to existing process for debugging since targets are not extracted from CMake catkin directives. When my patience comes to an end, I will consider writing my own CLion plugin to automate scanning and modifying ROS-specific files.