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NOT SUPPORTED

Mac OS X Installation Instructions (10.6 or later)

SVN Based Install (download-and-compile)

Pre Install

  1. Install Apple's Developer Tools: http://developer.apple.com/technologies/tools/

  2. Install MacPorts http://www.macports.org/install.php

ROS uses Python 2.6 ("py26").

  • sudo port -v selfupdate
    sudo port install wget cmake python_select subversion mercurial py26-yaml libyaml
    sudo port select --set python python26

Install Git

  • sudo port install git-core +svn+bash_completion

If your .profile doesn't already source .bashrc, you'll also need to do that:

  • echo 'source ~/.bashrc' >> ~/.profile

Install bash completion:

  • cp /opt/local/etc/bash_completion.d/git ~/.git-bash-completion.sh
    echo "[ -f ~/.git-bash-completion.sh ] && . ~/.git-bash-completion.sh" >> ~/.bashrc
    . ~/.bashrc

ROS on OS X uses MacPorts, which requires additional environment setup. If you haven't already configured your computer to use MacPorts libraries, add the following to your .bashrc:

  • export CPATH=/opt/local/include
    export LIBRARY_PATH=/opt/local/lib
    export DYLD_FALLBACK_LIBRARY_PATH=$DYLD_FALLBACK_LIBRARY_PATH:/opt/local/lib
    export PATH=/opt/local/bin:$PATH

You need C++ boost library with a version between 1.41 and 1.47. May you have it installed earlier, then you can enter (with your version):

  • port installed boost
    sudo port deactivate boost
    sudo port activate boost @1.47.0_2

If you have not one of that versions, you have to install it by yourself:

  • cd /Users/shared
    svn co -r 85591 http://svn.macports.org/repository/macports/trunk/dports/devel/boost boost_1_47_0_2
    cd boost_1_47_0_2
    sudo chown -R macports:macports Portfile files
    sudo port install
    cd ..
    rm -rf boost_1_47_0_2

Install other packages

sudo port install pkgconfig eigen

You may need to run easy_install to install libyaml:

sudo easy_install -U pyyaml

NOTE: Check symbolic links (e.g. using which and ls -la) for python and easy_install to make sure they link to the correct version (/opt/local/bin not /usr/...).

If easy_install is not in /opt/local/bin, you will need to install python-distribute:

sudo port install py26-distribute

You may need to add this symbolic link in /opt/local/bin:

sudo ln -fsv /opt/local/bin/easy_install-2.6 easy_install

python-svn issue: python-svn is a pre-requisite, but it must currently be installed from source. Please see http://answers.ros.org/question/28124/os-x-installation-error

Tell rosinstall, that we are planning to install using MacPorts:

export ROS_OS_OVERRIDE=osx:macports

rosinstall

The following lines will download the ROS source code using the rosinstall tool, and bootstrap the installation. The installation downloads all ROS stacks in subdirectories inside the ~/ros directory, one subdirectory for each stack in the rosinstall file.

First install rosinstall using pip (advanced options for pip):

  • sudo pip install -U rosinstall vcstools

There are many different libraries and tools in ROS. We provided four default configurations to get you started.

  • Desktop-Full Install: (Recommended): ROS Full, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=electric&variant=desktop-full&overlay=no"

    Desktop Install: : ROS Full, rviz, and robot-generic libraries

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=electric&variant=desktop&overlay=no"

    ROS-Full: ROS package, build, communication, and graphical tools.

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=electric&variant=ros-full&overlay=no"

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries.

    • rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=electric&variant=ros-base&overlay=no"

NOTE: the instructions above download all stacks inside the ~/ros folder. If you prefer a different location, simply change the ~/ros in the commands above.

Please reference REP 113 for description of other available configurations.

Environment Setup

Shell language:   Bash     Zsh    

You'll now need to update your environment. You can do this by typing:

source ~/ros/setup.bash

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched, which you can do with the command below:

echo "source ~/ros/setup.bash" >> ~/.bashrc
. ~/.bashrc

For Zsh users, change the last line of ~/ros/setup.zsh to

source $ROS_ROOT/tools/rosbash/roszsh

before running source ~/ros/setup.zsh Similarly, have the setup script called at the start of each new shell session with

echo "source ~/ros/setup.zsh" >> ~/.zshrc
. ~/.zshrc

Troubleshooting

For Mac OS X, you may need to create these symbolic links:

  • sudo ln -sv /opt/local/Library/Frameworks/Python.framework/Versions/2.6/bin/rosinstall rosinstall
    
    sudo ln -sv /opt/local/Library/Frameworks/Python.framework/Versions/2.6/bin/roslocate roslocate

CMake

If you get the following error:

  cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake  ..
  CMake Error at /opt/local/share/cmake-2.8/Modules/Platform/Darwin.cmake:141 (message):
    CMAKE_OSX_DEPLOYMENT_TARGET (10.6) is greater than CMAKE_OSX_SYSROOT SDK
    (/Developer/SDKs/MacOSX10.5.sdk).  Please set CMAKE_OSX_DEPLOYMENT_TARGET
    to 10.5 or lower

run this as a fix:

 echo "set(CMAKE_OSX_DEPLOYMENT_TARGET 10.5)" >> `rospack find rosbuild`/rostoolchain.cmake

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Installation Instructions for Groovy in OSX

This page describes how to install Groovy in OSX. OSX is not officially supported by ROS and the installation might fail for several reasons. This page documents how to install using a new experimental packaging of ROS into Portfiles. For the old (outdated) manual install instructions, see here. Please post any issues found with these instructions to the repository issue tracker.

Setup

  1. Install Apple's Developer Tools (Xcode 4). After starting Xcode select "Preferences" (⌘,) >> "Downloads". In "Components" you will find Command Line Tools.

  2. Install MacPorts

Clone ROS Repository Locally and Update MacPorts Configuration

First clone the repository to somewhere local (Warning: Use small paths if possible, as long paths have caused issues with catkin and environment chaining):

cd ~
git clone https://github.com/kyonifer/ros-macports.git ros-macports

Now we need to tell MacPorts where the local repository clone is. Do this by adding a file:///path/to/clone/location line to /opt/local/etc/macports/sources.conf:

sudo sh -c 'echo file://$HOME/ros-macports >> /opt/local/etc/macports/sources.conf'

Install the ROS Port

Install the ros-groovy port, which will auto build and install ros-desktop-full along with all dependencies:

sudo port install ros-groovy

This will install everything in /opt/local. To use our freshly built ROS installation, we need to source its setup file:

source /opt/local/setup.bash

Now a quick check to make sure all is working

which roscore
/opt/local/bin/roscore

Caveats

  • Everything in desktop-full is included in this port except the following:
     tf2 tf2_* pcl pcl_* depth_image_proc rviz rqt_rviz
  • ROS is built against MacPorts OpenCV, so if you want specific functionality to be compiled in to OpenCV be sure to build it before ROS with the correct variants flagged, e.g.:

     sudo port install opencv +eigen +opencl +python27 +qt4

    The same is true for any other dependencies that ROS brings in which you want custom variants of. (You can list available variants for any port by port variant <port_name>).


CategoryCategory

Installation Instructions for Hydro in OSX

This page describes how to install Hydro in OSX. OSX is not officially supported by ROS and the installation might fail for several reasons. This page documents how to install using a new experimental packaging of ROS into Portfiles for use with Macports. Please post any issues found with these instructions to the repository issue tracker.

Setup

  1. Install Apple's Developer Tools (Xcode 4).

  2. Install the Xcode command line tools via "xcode-select --install" on the command line.
  3. Install MacPorts

  4. Install python27 and set it as the default system interpreter:

sudo port install python27
sudo port select --set python python27
  • Do this even if you have python 2.7.x running on your mac

Clone ROS Repository Locally and Update MacPorts Configuration

First clone the repository to somewhere local:

cd ~
git clone https://github.com/kyonifer/ros-macports.git ros-macports

Now we need to tell MacPorts where the local repository clone is. Do this by adding a file:///path/to/clone/location line to /opt/local/etc/macports/sources.conf:

sudo sh -c 'echo file:///$HOME/ros-macports >> /opt/local/etc/macports/sources.conf'
  • Note that there are three slashes after file:

Install the ROS Ports

At this point you can install any ros-hydro-* package that you want. Due to some GUI packages not currently compiling, the ros-hydro-desktop_full package is broken. However, the ros-hydro-* packages have full dependency resolution, so installing high-level packages will also build all of their dependencies. For example:

sudo port install ros-hydro-roslaunch
sudo port install ros-hydro-common_msgs
sudo port install ros-hydro-rosbag

will bring in a lot of the ROS core packages. You can also just build the packages that you want, for a lean install. See the repository for a full list of packages available.

Everything will be installed into /opt/local. As long as ros-hydro-catkin is installed (which is pulled in by every other ros port), we need can source a ROS environment:

source /opt/local/setup.bash

Now a quick check to make sure all is working

which roscore
/opt/local/bin/roscore

Caveats

  • None of the visualization packages are working yet, which breaks most meta-packages trying to install all of ROS.
  • ROS is built against MacPorts OpenCV, so if you want specific functionality to be compiled in to OpenCV be sure to build it before ROS with the correct variants flagged, e.g.:

     sudo port install opencv +eigen +opencl +python27 +qt4

    The same is true for any other dependencies that ROS brings in which you want custom variants of. (You can list available variants for any port by port variant <port_name>). In particular, many ports build by default with X11, such as graphviz and VTK, which may not be what you want.


CategoryCategory


2018-06-18 22:57