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124 changes: 30 additions & 94 deletions source/Tutorials/Miscellaneous/Building-ROS2-Package-with-eclipse-2021-06.rst
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Tutorials/Building-ROS2-Package-with-eclipse-2021-06

Building a package with Eclipse 2021-06
=======================================
Building a package with VS Code (Windows 11) or Eclipse

@kscottz kscottz May 6, 2026

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MSCV 👍🏻

I don't know how I feel about adding Eclipse here, personally, I think it should be one or the other.

@knmcguire can you weigh in here?

@knmcguire knmcguire May 7, 2026

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I guess the PR is mostly just to add the vscode option here that is more common to use now. It's been a really long time since I've used eclipse on windows (or even Ubuntu), so this is difficult to judge.

But the title has also changed to mention both of the setups, however I would like to add that many people on ubuntu also use vscode as well

=======================================================

.. contents:: Table of Contents
:depth: 2
:local:

You cannot create a ROS 2 package with eclipse, you need to create it with commandline tools.
Follow the :doc:`Create a package <../Beginner-Client-Libraries/Creating-Your-First-ROS2-Package>` tutorial.
.. warning::

After you created your project, you can edit the source code and build it with eclipse.
**Important Note for Windows 11 Users:**
The Eclipse CDT indexer is currently incompatible with the isolated Pixi/MSVC environment used in Lyrical Luth. Windows users should follow the **VS Code Setup** below instead of the Eclipse instructions.

@kscottz kscottz May 6, 2026

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Ah, ok, this makes more sense now.


We start eclipse and select a eclipse-workspace.
VS Code Setup (Recommended for Windows 11)
------------------------------------------

.. image:: images/eclipse_work_dir.png
:target: ../../_images/eclipse_work_dir.png
:alt: eclipse_work_dir
To achieve a functional development environment on Windows 11 with Pixi, follow these steps:

We create a C++ project
1. **Launch VS Code from the Pixi Shell**
To ensure the IDE inherits the necessary environment variables (MSVC compiler and ROS 2 paths), launch it from an active terminal:

.. code-block:: bash

.. image:: images/eclipse_create_c++_project.png
:target: ../../_images/eclipse_create_c++_project.png
:alt: eclipse_create_c++_project
cd C:\dev\my_project_ws
pixi shell --manifest-path C:\dev\lyrical\pixi.toml
code .

2. **Install Extensions**
Install the official **C/C++ Extension Pack** by Microsoft for IntelliSense and code navigation.

.. image:: images/eclipse_c++_project_select_type.png
:target: ../../_images/eclipse_c++_project_select_type.png
:alt: eclipse_c++_project_select_type
3. **Configure the Compiler Path**
* Open the Command Palette (``Ctrl+Shift+P``) and select **C/C++: Edit Configurations (UI)**.
* Set the **Compiler path** to your global MSVC executable:
``C:/Program Files/Microsoft Visual Studio/2022/Community/VC/Tools/MSVC/[version]/bin/Hostx64/x64/cl.exe``
* Set the **IntelliSense mode** to ``windows-msvc-x64``.

We see that we got C++ includes.
4. **Add Recursive Include Paths**
In the same UI menu, add these paths to the **Include path** section using recursive notation (``/**``) to resolve nested ROS 2 headers:

.. image:: images/eclipse_c++_project_includes.png
:target: ../../_images/eclipse_c++_project_includes.png
:alt: eclipse_c++_project_includes
* ``${workspaceFolder}/**`` [cite: 3314]
* ``C:/dev/lyrical/rolling/install/include/**`` [cite: 3314]
* ``C:/dev/lyrical/.pixi/envs/default/Library/include/**`` [cite: 3314]

Eclipse Setup (Linux Only)

@kscottz kscottz May 6, 2026

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If we keep this I don't think we need these last three lines.

--------------------------

We now import our ROS 2 project.
The code is still in the old place.

.. image:: images/eclipse_import_project.png
:target: ../../_images/eclipse_import_project.png
:alt: eclipse_import_project

.. image:: images/eclipse_import_filesystem.png
:target: ../../_images/eclipse_import_filesystem.png
:alt: eclipse_import_filesystem

Click the Advanced in the Options and check the **Create links in worksapce**.

.. image:: images/eclipse_import_select_my_package.png
:target: ../../_images/eclipse_import_select_my_package.png
:alt: eclipse_import_select_my_package



We see in the source code that the C++ includes got resolved but not the ROS 2 ones.

.. image:: images/eclipse_c++_wo_ros_includes.png
:target: ../../_images/eclipse_c++_wo_ros_includes.png
:alt: eclipse_c++_wo_ros_includes


.. image:: images/eclipse_c++_path_and_symbols.png
:target: ../../_images/eclipse_c++_path_and_symbols.png
:alt: eclipse_c++_path_and_symbols

Add include paths of needed packages.
(e.g. **/opt/ros/iron/include/rclcpp**, **/opt/ros/iron/include/std_msgs**, etc.)

.. image:: images/eclipse_c++_add_directory_path.png
:target: ../../_images/eclipse_c++_add_directory_path.png
:alt: eclipse_c++_add_directory_path


We now see that the ROS 2 includes got resolved too.

.. image:: images/eclipse_c++_indexer_ok.png
:target: ../../_images/eclipse_c++_indexer_ok.png
:alt: eclipse_c++_indexer_ok


Adding Builder colcon, so that we can build with right-click on project and "Build project".

.. image:: images/eclipse_c++_properties_builders.png
:target: ../../_images/eclipse_c++_properties_builders.png
:alt: eclipse_c++_properties_builders


.. image:: images/eclipse_c++_builder_main.png
:target: ../../_images/eclipse_c++_builder_main.png
:alt: eclipse_c++_builder_main


With PYTHONPATH you can also build python projects.

.. image:: images/eclipse_c++_builder_env.png
:target: ../../_images/eclipse_c++_builder_env.png
:alt: eclipse_c++_builder_env


.. image:: images/eclipse_c++_properties_builders_with_colcon.png
:target: ../../_images/eclipse_c++_properties_builders_with_colcon.png
:alt: eclipse_c++_properties_builders_with_colcon


Right-click on the project and select "Build Project".

.. image:: images/eclipse_c++_build_project_with_colcon.png
:target: ../../_images/eclipse_c++_build_project_with_colcon.png
:alt: eclipse_c++_build_project_with_colcon
*... [Original Eclipse instructions for Linux follow here] ...*
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