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February 19, 2021 00:17
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A step by step installation of ROS Lunar on macOS Sierra.
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# The commands below resulted in successful compilation and installation | |
# of ROS Lunar on macOS Sierra | |
# desktop distribution is used instead of desktop_full to avoid installation | |
# of Gazebo7 and Qt4. Gazebo8 works out of the box when installed from brew. | |
# | |
# Note: Commands presented in this file are intended to be executed manually, | |
# one by one, as opposed to running this file as a script. Some paths used | |
# here should be adapted to your environment. | |
# Create a workspace | |
mkdir -p ~/Development/ros_catkin_ws_lunar | |
cd ~/Development/ros_catkin_ws_lunar | |
brew update | |
# Taps | |
brew tap ros/deps | |
brew tap osrf/simulation | |
brew tap homebrew/science | |
# Manual installation of necessary dependencies, | |
# as they are missing in rosdep list | |
brew install python cmake qt5 webp libpng | |
brew install pyqt5 --with-python | |
# Because of a recent change in homebrew python formula, | |
# brewed python no longer overshadows the system python. | |
# Linking it manually helps | |
ln -s /usr/local/opt/python/libexec/bin/python /usr/local/bin/python | |
# Qt naming fix | |
ln -s /usr/local/share/sip/Qt5 /usr/local/share/sip/PyQt5 | |
# XCode Command Line Tools (needed for fast installation of bottled GCC) | |
xcode-select --install | |
# From ROS turorial | |
pip install --upgrade pip setuptools | |
pip install -U wstool setuptools rosdep rosinstall rosinstall_generator rospkg catkin-pkg Distribute sphinx | |
sudo -H rosdep init | |
rosdep update | |
# Download ROS packages | |
rosinstall_generator desktop_full --rosdistro lunar --deps --wet-only --tar > lunar-desktop-full-wet.rosinstall | |
wstool init -j8 src lunar-desktop-full-wet.rosinstall | |
# Get dependencies | |
# Skips dependencies which were installed manually | |
rosdep install --from-paths src --ignore-src --rosdistro lunar -y --skip-keys="libqt5-core libqt5-gui libqt5-opengl libqt5-opengl-dev libqt5-widgets qt5-qmake qtbase5-dev python-qt5-bindings-webkit python-qt5-bindings python-qt5-bindings-gl libwebp-dev libpng-dev gazebo7 libgazebo7-dev libogre-dev" | |
# Compile and install | |
# Additional flags fix problems with Qt and Python linking | |
# It uses python installed with brew instead of stock one | |
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH="/usr/local/opt/qt;/Users/lubiluk/Development/ros_catkin_ws_lunar/install_isolated" -DCMAKE_FIND_FRAMEWORK=LAST -DPYTHON_INCLUDE_DIR="/usr/local/Cellar/python/2.7.13_1/Frameworks/Python.framework/Headers" -DPYTHON_LIBRARY="/usr/local/Cellar/python/2.7.13_1/Frameworks/Python.framework/Versions/2.7/lib/libpython2.7.dylib" -DCMAKE_MACOSX_RPATH=ON -DCMAKE_INSTALL_RPATH="/Users/lubiluk/Development/ros_catkin_ws_lunar/install_isolated/lib" |
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There is now an easy way of installing ROS on OSX using conda:
conda install ros-noetic-desktop -c robostack
. More info on https://medium.com/robostack/cross-platform-conda-packages-for-ros-fa1974fd1de3 and https://github.com/RoboStack/ros-noetic