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#!/bin/bash |
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# Software License Agreement (BSD) |
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# |
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# Author Mike Purvis <mpurvis@clearpathrobotics.com> |
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# Copyright (c) 2014-2016, Clearpath Robotics, Inc., All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without modification, are permitted provided that |
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# the following conditions are met: |
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# * Redistributions of source code must retain the above copyright notice, this list of conditions and the |
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# following disclaimer. |
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# * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the |
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# following disclaimer in the documentation and/or other materials provided with the distribution. |
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# * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or |
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# promote products derived from this software without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED |
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# WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A |
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# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR |
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# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED |
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# TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
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# HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING |
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# NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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ROS_DISTRO=${ROS_DISTRO:-melodic} |
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ROS_CONFIGURATION=${ROS_CONFIGURATION:-desktop_full} |
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ROS_EXTRA_PACKAGES=${ROS_EXTRA_PACKAGES:-} |
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ROS_INSTALL_DIR=${ROS_INSTALL_DIR:-/opt/ros/${ROS_DISTRO}} |
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do_install() |
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{ |
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set -e |
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# Homebrew |
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if ! hash brew 2>/dev/null; then |
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ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)" |
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echo export PATH='/usr/local/bin:$PATH' >> ~/.bash_profile |
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source ~/.bash_profile |
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brew doctor |
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fi |
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brew update |
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# XQuartz |
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if ! hash xquartz 2>/dev/null; then |
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brew install caskroom/cask/brew-cask |
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brew cask install xquartz |
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echo "Log out and in to finalize XQuartz setup." |
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exit 0 |
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fi |
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# Check for pip packages in the system Python directory. |
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if [ $(ls /Library/Python/2.7/site-packages/ | wc -l) -gt 1 ]; then |
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echo "These instructions are about to install Python from Homebrew. However, there are already" |
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echo "pip packages installed against the system python, in the following path:" |
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echo |
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echo " /Library/Python/2.7/site-packages/" |
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echo |
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echo "If you have problems, please uninstall these packages:" |
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echo |
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echo " for i in \$( pip freeze ); do sudo -H pip uninstall -y \$i; done" |
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echo |
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echo "Then delete the build directory and start over again from scratch." |
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fi |
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# Check for root-owned stuff in /usr/local |
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if [ $(find /usr/local/* -maxdepth 3 -type d -user root | wc -l) -gt 1 ]; then |
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echo "Looks like you have some stuff owned by the root user in /usr/local. The installation can" |
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echo "continue, but if there are pip packages which were installed using sudo, this will be a" |
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echo "problem if rosdep tries to update them. If you have issues installing dependencies, consider" |
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echo "nuking your Homebrew installation and starting from scratch:" |
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echo |
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echo " https://gist.github.com/mxcl/1173223" |
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echo |
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echo "Alternatively, you could try chowning the contents of /usr/local to yourself:" |
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echo |
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echo " sudo chown -R $USER:admin /usr/local/*" |
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fi |
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# Brewed Python |
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if [ ! "$(which python2)" = "/usr/local/bin/python2" ]; then |
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brew install python |
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mkdir -p ~/Library/Python/2.7/lib/python/site-packages |
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echo "$(brew --prefix)/lib/python2.7/site-packages" >> ~/Library/Python/2.7/lib/python/site-packages/homebrew.pth |
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fi |
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# Gives us console_bridge, urdfdom, and gtest. |
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brew tap ros/deps |
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# This tap gives us formulae for Gazebo and its dependencies, including SDF. |
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brew tap osrf/simulation |
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# ROS infrastructure tools |
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brew install libyaml || true |
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pip2 install -U setuptools rosdep rosinstall_generator wstool rosinstall catkin_tools bloom empy sphinx pycurl |
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# Rosdep has an issue detecting that qt5 is correctly installed, so preinstall it. This is a keg-only formula, |
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# so add its location to the prefix path in order for workspace packages to be able to find it. |
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brew install qt5 pyqt5 sip |
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export CMAKE_PREFIX_PATH=$(brew --prefix qt5) |
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# This hack is required to make qt_gui_cpp compile correctly. See https://github.com/mikepurvis/ros-install-osx/pull/84#issuecomment-338209466 |
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pushd /usr/local/share/sip |
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if [ ! -e PyQt5 ]; then |
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ln -s Qt5 PyQt5 |
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fi |
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popd |
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# Get homebrew's opencv3 from a bottle so that we don't have to build it. |
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brew install opencv3 |
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# Mock out python and pip so that we get the brewed versions when rosdep and other programs call them. |
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# Mock out pip so that we get the brewed pip2 when rosdep calls it to make an installation. |
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export PATH=$(pwd)/shim:$PATH |
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# Initialize and update rosdep |
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if [ ! -d /etc/ros/rosdep/ ]; then |
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echo "This sudo prompt is to initialize rosdep (creates the /etc/ros/rosdep path)." |
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sudo rosdep init |
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fi |
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if [ ! -f /etc/ros/rosdep/sources.list.d/10-ros-install-osx.list ]; then |
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echo "This sudo prompt adds the the brewed python rosdep yaml to /etc/ros/rosdep/sources.list.d/10-ros-install-osx.list" |
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sudo sh -c "echo 'yaml file://$(pwd)/rosdeps.yaml osx' > /etc/ros/rosdep/sources.list.d/10-ros-install-osx.list" |
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fi |
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rosdep update |
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# Remove previous workspace if present, create and enter new one. |
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WS=${ROS_DISTRO}_${ROS_CONFIGURATION}_ws |
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if [ -d "$WS" ]; then |
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rm -rf "$WS" |
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fi |
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mkdir $WS |
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cd $WS |
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# Standard source install |
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rosinstall_generator ${ROS_CONFIGURATION} ${ROS_EXTRA_PACKAGES} --rosdistro ${ROS_DISTRO} --deps --tar > ${WS}.rosinstall |
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wstool init src |
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pushd src |
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# Avoid downloading opencv3; we already installed it from homebrew. |
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wstool merge file://$(pwd)/../${WS}.rosinstall |
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#wstool remove opencv3 |
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wstool update -j8 |
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# See: https://github.com/ros/catkin/pull/784 |
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if [ -d catkin ]; then |
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curl https://raw.githubusercontent.com/ros/catkin/8a47f4eceb4954beb4a5b38b50793d0bbe2c96cf/cmake/catkinConfig.cmake.in > catkin/cmake/catkinConfig.cmake.in |
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fi |
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# Pending release: https://github.com/ros-visualization/rviz/pull/1165 |
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if [ -d rviz ]; then |
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curl https://raw.githubusercontent.com/mikepurvis/rviz/21eac2bcc061bb623fd17aa449f6215c493b27f2/CMakeLists.txt > rviz/CMakeLists.txt |
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fi |
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if [ -d image_pipeline ]; then |
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# Pending merge and release: https://github.com/ros-perception/image_pipeline/pull/303 |
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curl https://raw.githubusercontent.com/mikepurvis/image_pipeline/d308d00aed5b66961f9e13ab7a50660a24be7c7f/image_proc/CMakeLists.txt > image_pipeline/image_proc/CMakeLists.txt |
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curl https://raw.githubusercontent.com/mikepurvis/image_pipeline/d308d00aed5b66961f9e13ab7a50660a24be7c7f/stereo_image_proc/CMakeLists.txt > image_pipeline/stereo_image_proc/CMakeLists.txt |
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# Pending merge and release: https://github.com/ros-perception/image_pipeline/pull/304 |
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curl https://raw.githubusercontent.com/mbreyer/image_pipeline/4bf67d3c861cb157e8174f67250680263b18d2b7/image_publisher/CMakeLists.txt > image_pipeline/image_publisher/CMakeLists.txt |
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fi |
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# Package dependencies. |
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rosdep install --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} -y --as-root pip:no |
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popd |
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# Clean out or create the install directory. |
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if [ -d ${ROS_INSTALL_DIR} ]; then |
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rm -rf ${ROS_INSTALL_DIR}/* |
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else |
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echo "This sudo prompt is to create and chown ${ROS_INSTALL_DIR}." |
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sudo mkdir -p ${ROS_INSTALL_DIR} |
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sudo chown $USER ${ROS_INSTALL_DIR} |
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fi |
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# OpenSSL |
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export PKG_CONFIG_PATH="$PKG_CONFIG_PATH:/usr/local/opt/openssl/lib/pkgconfig" |
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# Parallel build. |
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catkin config --install \ |
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--install-space ${ROS_INSTALL_DIR} \ |
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--cmake-args \ |
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-DCATKIN_ENABLE_TESTING=1 \ |
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-DCMAKE_BUILD_TYPE=Release \ |
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-DCMAKE_FIND_FRAMEWORK=LAST \ |
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-DPYTHON_EXECUTABLE=$(which python2) \ |
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-DPYTHON_LIBRARY=$(python2 -c "import sys; print sys.prefix")/lib/libpython2.7.dylib \ |
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-DPYTHON_INCLUDE_DIR=$(python2 -c "import sys; print sys.prefix")/include/python2.7 \ |
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-DCMAKE_CXX_STANDARD=14 |
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catkin build --limit-status-rate 1 |
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echo "Installation successful, please source the ROS workspace:" |
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echo |
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echo " source ${ROS_INSTALL_DIR}/setup.bash" |
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echo |
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# Check for SIP if on OSX/macOS 10.11 (El Capitan) or later |
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if [[ `sw_vers -productVersion` > "10.10" ]] |
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then |
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if `csrutil status | grep -q enabled` |
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then |
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echo "You have System Integrity Protection enabled." |
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echo |
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echo "This prevents DYLD_LIBRARY_PATH from being exported to subshells" |
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echo "Please add: export DYLD_LIBRARY_PATH=\$DYLD_LIBRARY_PATH:/opt/ros/\$ROS_DISTRO/lib" |
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echo "To the start of /opt/ros/$ROS_DISTRO/bin/rosrun to work around the issue." |
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fi |
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fi |
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} |
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do_install |
Lifesafer!! Thanks!