How to attach remote debugger to the PX2

I’d like to set a breakpoint and single step through a self written program on the PX2 from a remote IDE. For the AGX, there is a support document in the FAQ-section (Nsight Eclipse IDE: Set up the NVIDIA Nsight Eclipse IDE for efficient development on your host and target). I cannot find such a document for the PX2. How can I attach a remote debugger to the PX2 to debug my code?

Nobody knows?