Runjian-Chen / ros-kinetic-mac

Build ros kinetic on Mac(mojave)

ros-kinetic-mac

Build ros kinetic on Mac(mojave 10.14.2)

Step for installation

• Install homebrew in command line

/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)

• Even though we use brew to install many dependences which ros needs, we have to uninstall all python installed by brew

brew uninstall python
brew uninstall python@2

• Check

brew info python

• To install the bag pcl_ros, we need to copy file 'Python.framework' in the following path

/System/Library/Frameworks/Python.framework

• And paste in the following path (mkdir python@2 and Frameworks)

/usr/local/opt/python@2/Frameworks/

if

• Add repositories

brew tap ros/deps
brew tap osrf/simulation

• Set up environment valuable

export PATH=/usr/local/bin:$PATH
source ~/.bashrc

• Set up environment valuable for python

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

• Follow the instructions on the website below to install pip independently (not with brew!)

https://pip.readthedocs.io/en/stable/installing/

• Install python tools

sudo -H pip install -U wstool rosdep rosinstall rosinstall_generator rospkg catkin-pkg Distribute sphinx

• Init

sudo rosdep init
rosdep update

• Build up workspace

mkdir Path_that_you_use/ros_catkin_ws
cd Path_that_you_use/ros_catkin_ws

• Download installer(replace destop_full with desktop or ros_comm to download different installer if you need)

rosinstall_generator desktop_full --rosdistro kinetic --deps --wet-only --tar > kinetic-desktop-full-wet.rosinstall

• Install

wstool init -j8 src kinetic-desktop-full-wet.rosinstall

• Analyse dependence (add --skip-keys="~" to skip everything that fails to install and install those with brew, linking them as well)

rosdep install --from-paths src --ignore-src --rosdistro kinetic -y --skip-keys="google-mock" --skip-keys="python-wxtools" --skip-keys="qt" --skip-keys="gazebo" --skip-keys libogre-dev --skip-keys "libqt5-core libqt5-gui libqt5-opengl libqt5-opengl-dev libqt5-widgets qt5-qmake qtbase5-dev python-qt5-bindings-webkit"

• Build

./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -DCMAKE_FIND_FRAMEWORK=LAST -DCATKIN_ENABLE_TESTING=0

• Set up environment valuable for roscore

export ROS_HOSTNAME=localhost
export ROS_MASTER_URI=http://localhost:11311

• Add this to ~/.bash_profile and source it or reopen the console

source Path_that_you_use/ros_catkin_ws/devel_isolated/setup.bash

• To git rid of the influence brought by SIP, we need to copy file all the files in the following path

Path_that_you_use/ros_catkin_ws/install_isolated/lib

• And paste in the following path

/usr/local/lib

Error and solutions

• Linking error:

ld: library not found for ~~~

Solution : 
1) install the dependence if you haven't installed it
2) if you install it via brew : brew link ~~~
3) if you don't install it via brew : export LIBRARY_PATH=$LIBRARY_PATH: (place the path you install it here)
4) if it is a dynamic lib : replace "export LIBRARY_PATH=$LIBRARY_PATH:" to the command the link dynamic lib

• OpenCV error in cv_bridge and image_geometry package:

Undefined symbols for architecture x86_64:
  "cv::~~~

Solution : 
Change this in the CMakeLists.txt in src/~~~/cv_bridge or  src/~~~/image_geometry :
From "find_package(OpenCV REQUIRED" to "find_package(OpenCV 3.4.3 REQUIRED"
replace 3.4.3 to the version of opencv you install

• Could not find the following Boost libraries: boost_python3

Solution : 
1) brew install boost-python3 and link it
2) if this does not solve the problem, link it to /usr/local/lib/ : cd /usr/local/lib/ && sudo ln -s libboost_python36.dylib libboost_python3.dylib

• Fail to build camera_calibration_parsers

error: a space is required between consecutive right angle brackets

Solution : 
Add this to the CMakeLists.txt camera_calibration_parsers in : set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

• Error in building rospack

~/ros_catkin_ws/src/rospack/include/rospack/rospack.h:108:10:
fatal error:’boost/tr1/unordered_set.hpp’ file not found

Solution : change ’boost/tr1/unordered_set.hpp’ in every head or cpp files to ’boost/unordered_set.hpp’ (yeah just delete 'tr1/'

• logError or logWarn not in the scope

Solution : Replace every "logError" or "logWarn cmake found with "CONSOLE_BRIDGE_logError" or "CONSOLE_BRIDGE_logWarn"