build-ros-on-macos

Some notes for a succesful build ROS on MacOS/Sierra

After several failed attempts building ROS/kinetic/release branch, i have landed successfully on the upstream-development.

I have referred from follow sources - -

ENVIRONMENT

MacOS/Sierra (10.12.6).
Xcode: Xcode 8.3.3 (Build version 8E3004b)
ROS/Kinetic/desktop_full/upstream-development

BUILD STEP

Clean up brew-based pip installed packages

pip freeze --local | xargs sudo -H pip uninstall -y
rm -rf ~/Library/Caches/pip
rm -rf ~/Library/Logs/pip

Clean up installed packages and remove homebrew completely

brew remove --force $(brew list) --ignore-dependencies
brew prune
/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/uninstall)"
sudo rm -rf /usr/local/lib/python*
rm /usr/local/share/sip/PyQt5
rmdir ~/Library/Caches/Homebrew
rmdir ~/Library/Logs/Homebrew

Clean up previous ROS's running settings

cd ~
rm -rf ~/.ros
rm -rf ~/.rviz

Clean up previous catkin workspace

rm -rf ~/ros_catkin_ws
mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws

Install new homebrew and required taps

/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
brew tap ros/deps
brew tap osrf/simulation
brew tap homebrew/science

Install python (2.7)

brew install python
export PATH="/usr/local/opt/python/libexec/bin:$PATH" # or put this line in ~/.bash_profile
echo 'export PATH="/usr/local/opt/python/libexec/bin:$PATH"' >> ~/.bash_profile
#mkdir -p ~/Library/Python/2.7/lib/python/site-packages
#echo "$(brew --prefix)/lib/python2.7/site-packages" >> ~/Library/Python/2.7/lib/python/site-packages/homebrew.pth

Install Qt5 and PyQt5

brew install qt # Qt5
export PATH="/usr/local/opt/qt/bin:$PATH" # or put this line in ~/.bash_profile
echo 'export PATH="/usr/local/opt/qt/bin:$PATH"' >> ~/.bash_profile
brew install pyqt # PyQt5
ln -s /usr/local/share/sip/Qt5 /usr/local/share/sip/PyQt5

Install dependencies

brew opencv3 --without-numpy
export PATH="/usr/local/opt/opencv3/bin:$PATH" # or put this line in ~/.bash_profile
echo 'export PATH="/usr/local/opt/opencv3/bin:$PATH"' >> ~/.bash_profile

Install Gazebo (I use gazebo8 instead gazebo7)

brew install gazebo8

Install other packages

# required packages
brew install gtk+ pcl poco tinyxml2 ossp-uuid eigen bullet urdfdom assimp qhull collada-dom yaml-cpp fltk sdl_image theora
# optional packages
brew install openni openni2 librealsense wxmac wxpython

Install build helper packages

sudo -H pip install -U wstool rosdep rosinstall rosinstall_generator rospkg catkin_tools catkin_pkg empy nose sphinx distribute bloom

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
sudo rosdep init --verbose
rosdep update --verbose

Generate .rosinstall file for desktop_full and relating packages

#rosinstall_generator desktop_full --rosdistro kinetic --deps --wet-only --tar --verbose --upstream-development > kinetic-desktop_full-wet.rosinstall
rosinstall_generator \
    desktop_full \
    control_toolbox realtime_tools ros_control navigation map_msgs perception_pcl bfl \
    --rosdistro kinetic --deps --wet-only --tar --upstream-development > kinetic-desktop_full-wet.rosinstall

Initiate catkin workspace

wstool init -j8 src kinetic-desktop_full-wet.rosinstall

Modify

wstool set stage_ros --git https://github.com/ros-simulation/stage_ros.git --version=indigo-devel -t src -y

#roslocate info control_toolbox --distro kinetic > kinetic-desktop_full-wet-control_toolbox.rosinstall
#roslocate info realtime_tools --distro kinetic > kinetic-desktop_full-wet-realtime_tools.rosinstall
#roslocate info ros_control --distro kinetic > kinetic-desktop_full-wet-ros_control.rosinstall
#roslocate info navigation --distro kinetic > kinetic-desktop_full-wet-navigation.rosinstall
#roslocate info bfl --distro kinetic > kinetic-desktop_full-wet-orocos-bfl.rosinstall
#roslocate info map_msgs --distro kinetic > kinetic-desktop_full-wet-map_msgs.rosinstall
#roslocate info perception_pcl --distro kinetic > kinetic-desktop_full-wet-perception_pcl.rosinstall

#wstool merge -t src kinetic-desktop_full-wet-control_toolbox.rosinstall -y
#wstool merge -t src kinetic-desktop_full-wet-realtime_tools.rosinstall -y
#wstool merge -t src kinetic-desktop_full-wet-ros_control.rosinstall -y
#wstool merge -t src kinetic-desktop_full-wet-navigation.rosinstall -y
#wstool merge -t src kinetic-desktop_full-wet-orocos-bfl.rosinstall -y
#wstool merge -t src kinetic-desktop_full-wet-map_msgs.rosinstall -y
#wstool merge -t src kinetic-desktop_full-wet-perception_pcl.rosinstall -y

Update sources

wstool update -j8 -t src

Check and install ROS's requirements

rosdep install --from-paths src --ignore-src --rosdistro kinetic -y --skip-keys="opencv3"

Upgrade all install python’s packages

sudo -H pip install -U $(pip freeze | awk '{split($0, a, "=="); print a[1]}')

Fix failed build relating to include header

sed -i '.bak' 's/find_path(UUID_INCLUDE_DIRS uuid\/uuid.h)/find_path(UUID_INCLUDE_DIRS ossp\/uuid.h)/g' src/cmake_modules/cmake/Modules/FindUUID.cmake

Fix failed build image_publisher relating to opencv

by message like "Undefined symbols for architecture x86_64: "cv::VideoCapture::…” due to the short of linking to opencv lib

MODIFY src/image_pipeline/image_publisher/CMakeLists.txt:

sed -i '.bak' \
    -e '/catkin_package()/a \
        find_package(OpenCV REQUIRED)' \
    -e 's/target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})/target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})/g' \
    src/image_pipeline/image_publisher/CMakeLists.txt

Fix failed build Octovis since QGLViewer not found (not hosted on homebrew), try build QGLViewer from attached source code

pushd src/octomap/octovis/src/extern/QGLViewer
qmake -spec macx-g++
make
#make install
popd

Build octovis with specific options

src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -DOCTOVIS_QT5=YES -DCMAKE_CXX_STANDARD=11 --pkg=octovis

Build rest of packages

src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

Run a master and rviz

source ~/ros_catkin_ws/install_isolated/setup.bash
export ROS_HOSTNAME=‘localhost'
roscore & rviz

hoatd/build-ros-on-macos