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I've been using Clion for nearly all my ros1/2 development. The big thing is to start clion from a terminal that is sourced for your workspace. After that, I can right click on the CMakeLists.txt file for the package I need to work on, and select Load CMakeLists.txt Once that's done, I have access to all the code completion, suggestions, etc. I can build the package, run/debug, etc It works for both python and c++ nodes.