Install ROS Jade on OS X Yosemite

setup.sh

# NOTE: These instructions do not represent a robust, self-troubleshooting install; they
# are definitely not suitable for dumping to a giant script and running as one. If you 
# use them, they should be run one at a time, with an eye out for errors or problems
# along the way.
#
# The #1 issue you are likely to encounter is with Homebrew or Python packages whose
# binary components link against system Python. This will result in runtime segfaults,
# especially in rviz. If you suspect this is occurring, you can attempt to remove and
# reinstall the offending packages, or go for the nuclear option--- empty your Cellar
# and site-packages folders and start over with brewed python from the beginning.

# !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
# If a cleanup is necessary, proceed with extreme caution!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
# !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

# Remove old ROS installations, don't do this tutorial if you have several versions of ros installed
rm -rf /opt/ros
rm -rf ~/ros_catkin_ws

# Uninstall homebrew, warning this will cause trouble for anything linked against older hombrewed libraries
brew install wget
wget https://gist.githubusercontent.com/mxcl/1173223/raw/a833ba44e7be8428d877e58640720ff43c59dbad/uninstall_homebrew.sh
bash uninstall_homebrew.sh
rm uninstall_homebrew.sh
rm -rf /usr/local/Cellar /usr/local/.git && brew cleanup
rm -rf /usr/local/Library/Taps

# Clean up all python packages
sudo rm -rf /Library/Python/2.7/site-packages
sudo rm -rf $(brew --prefix)/lib/python2.7/site-packages

# Comment everything related to ROS in your .bashrc/.zshrc
nano .zshrc

# Now we are ready to start fresh.
# If you haven't already, install XQuartz using the installer from its own website:
# https://xquartz.macosforge.org

# Install Homebrew
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
echo export PATH='/usr/local/bin:$PATH' >> ~/.zshrc
source .zshrc
brew doctor
brew update

# Install zshell, if you want to use bash instead, you should change the sourced files from .zsh to .bash
brew install zsh

# Install brewed python
brew install 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

# Homebrew taps for prerequisites
brew tap ros/deps
brew tap osrf/simulation
brew tap homebrew/versions
brew tap homebrew/science

# Prerequisites
brew install cmake libyaml lz4 theora
brew install boost --with-python
brew install opencv --with-qt --with-eigen --with-tbb # add -devel for opencv3
brew install https://raw.githubusercontent.com/NikolausDemmel/homebrew-simulation/ogre-fixes/ogre1.9.rb --devel
brew install https://raw.githubusercontent.com/NikolausDemmel/homebrew-simulation/ogre-fixes/gazebo2.rb

# Install the ROS infrastructure tools, you may have to run this several times until all python deps are properly installed
sudo -H pip install -U setuptools rosdep rosinstall_generator wstool rosinstall catkin_tools catkin_pkg bloom empy sphinx

# Download ROS sources
mkdir ros_catkin_ws && cd ros_catkin_ws
rosinstall_generator desktop_full --rosdistro jade --deps --tar > jade.rosinstall
wstool init -j8 src jade.rosinstall

# Install the necessary ROS dependencies
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro jade -y --skip-keys libogre-dev --skip-keys gazebo

# Build in parallel with catkin ~40 min on my computer
sudo mkdir -p /opt/ros/jade
sudo chown $USER /opt/ros/jade
catkin config --install  --install-space /opt/ros/jade
catkin build \
  -DCMAKE_BUILD_TYPE=Release \
  -DPYTHON_LIBRARY=/usr/local/Cellar/python/2.7.10/Frameworks/Python.framework/Versions/2.7/lib/libpython2.7.dylib \
  -DPYTHON_INCLUDE_DIR=/usr/local/Cellar/python/2.7.10/Frameworks/Python.framework/Versions/2.7/include/python2.7

# Source the build ROS, prepare the workspace and from then on only source this one
source /opt/ros/jade/setup.zsh
cd ~/ros_catkin_ws
mv src src_isolated
mv devel devel_isolated
mv build build_isolated
mkdir src
catkin_make
echo 'source ~/ros_catkin_ws/devel/setup.zsh' >> ~/.zshrc