openocd

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openocd -f /usr/share/openocd/scripts/board/st_nucleo_f7.cfg
Or with RTOS Support 
openocd -f board/st_nucleo_f7.cfg -c '$_TARGETNAME configure -rtos ThreadX'

Connect to gdb server: 

arm-none-eabi-gdb -ex 'target extended-remote localhost:3333' Debug/test_netxduo_dhcp_client_stm_ide.elf
Inside gdb shell: 
#load program
load 
# openocd commands
monitor ...