No, DS-5 Community Edition does not support debugging using RealView ICE. Only the commercial (paid-for) editions allow that. You can request an evaluation license if you'd like to try the functionality. To do that, download the full product (the version that comes with an installer, not the version that comes as an Eclipse update site), and select the evaluation option in the Eclipse License Manager dialog (Help menu -> ARM License Manager) and follow the on-screen instructions.