A package is available that is designed to help set up a development environment on the phone itself. This can be installed from a terminal, either using the built-in Terminal application or via a serial connection into the phone, with the following command:
sudo apt install librem5-dev-tools
Installing this package should cause additional packages to be installed, containing tools and resources for application development.
This should also enable an SSH server, allowing you to log in to the phone and develop software natively using an SSH session. The availability of an SSH server also makes it convenient to copy software built on a workstation to the phone for testing and installation.