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It's actually fairly easy to use QtCreator with ROS (I do it myself). This is a link that explains in more detail.
Briefly, you have to launch qtcreator from the terminal so that the program is aware of your environment variables ($PATH, $PYTHONPATH and so on...)
Once you've done that, go to File->Open Project and navigate to the CMakeLists.txt of your project (if you're using catkin that'd be /path/to/catkin_ws/src/CMakeLists.txt). QtCreator will then ask you to choose a build directory. Simply select the build directory inside the package (or /path/to/catkin_ws/build/ if using catkin). Finally tell QtCreator to run CMake, and voilà you're done!
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