1. Use a kit configured for Remote Linux.
2. Click Run button to build, deploy and run application on remote device
3. Click Debug > Start Debugging > Attach to Running Application. Select the process that is currently running
4. Notice the debug symbols aren't loaded properly. You need to manually open Debugger Log and enter the command "file /path/to/executable" and press enter. Then press F5 twice to continue and interrupt again. Now you can see the debug symbols.

I suggest adding an Executable field with a Browse button for Attach to Running Application similar to "Attach to Process Not Yet Started". When a process is selected, if the process is the current executable that is running the the Executable field can be automatically set to the current executable so the debug symbols load correctly. Otherwise, if it is not the current executable that is running it can be reset to empty and the user can use the Browse button to select the desired Executable if needed.