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I think your solution you already have is actually good. The better solution (to me) is not to use any IDE's build tools. The linux gcc/gdb etc environment has been made to work with the command line and iterated on for many years and is a very robust solution. I do like IDEs for a development environment (code completion and some other things), but that’s about all I use it for. For compiling I switch to a terminal and run all my build commands whether its ROS or not.

IDEs have just built an extra layer on top of the gcc/cmake/etc tools, which means if there's a problem, it could be in that extra layer which you don't need anyways.