Instantly share code, notes, and snippets.

Embed
What would you like to do?
Installing ROS Kinetic on Mac OS X El Capitan (10.11.6) and macOS Sierra

Installing ROS Kinetic on Mac OS X - El Capitan and macOS Sierra

Having rather painlessly installed ROS Indigo on El Capitan using Mike Purvis's script, I attempted to upgrade to ROS Kinetic. This gist outlines the problems I encoutered and how I solved them. Hopefully this guide will help others attempting to install ROS Kinetic / Gazebo 7 on El Capitan.

ROS Install OSX

Start with Mike Purvis's script, which currently is setup to install ROS Indigo. In order to install Kinetic instead of Indigo, make sure to set the ROS_DISTRO environment variable: export ROS_DISTRO=kinetic.

After you get through rosdep errors, it's quickest to just work with the catkin config ... and catkin build ... commands directly. In fact, I found it most helpful to leave my catkin workspace terminal open at ros-install-osx/kinetic_desktop_full_ws and then opening a new terminal to go try and fix errors in different files, etc. Once I finished editing and was ready to test, I would go back to my catkin workspace terminal and just run the catkin build --limit-status-rate 1 command, which comes from the install script.

rosdep and qt5

Because homebrew installs qt5 as keg-only (because qt4 is more common), rosdep has trouble verifying that qt5 is actually installed. In fact, the script will spit out that homebrew has already installed qt5, followed by rosdep saying something like: Failed to detect successful installation of [qt5]. If you know that qt5 is installed properly on your machine (homebrew says it is), then add qt5 related packages to the --skipkeys flag:

$ rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y --as-root pip:yes --skip-keys "libqt5-core libqt5-gui libqt5-opengl libqt5-opengl-dev libqt5-widgets qt5-qmake qtbase5-dev  python-qt5-bindings python-qt5-bindings-gl python-qt5-bindings-webkit"

(Also, note that I have --as-root pip:yes because my pip needs sudo for some reason...)

(Also, see the gazebo section below for resolving gazebo problems).

qt_gui_cpp

Had to change LIBS= ... -lQtCore and friends to LIBS= ... -L/usr/local/lib/QtPrintSupport.framework/QtPrintSupport. Note the capital L. The Official Unofficial Installation Guide talks about this. (QtCoremod.sip: fix with: ln -s /usr/local/share/sip/Qt5 /usr/local/share/sip/PyQt5)

Note Turns out that this error went away because big L links to a directory, not a library. Therefore, you might as well and just comment out the last few -lQtCore etc.

geometric_shapes / Eigen3Config.cmake

Followed Installing ROS Kinetic on Slackware 14.1 section on 'geometric_shapes':

In ros-install-osx/kinetic_desktop_full_ws/src/geometric_shapes/CMakeLists.txt, replace:

find_package(Eigen3 REQUIRED)

with:

find_package( PkgConfig )
pkg_check_modules( EIGEN3 REQUIRED eigen3 )
include_directories( ${EIGEN3_INCLUDE_DIRS} )

cv_bridge

If you get an undefined symbols error about cv::_InputArray:

Undefined symbols for architecture x86_64:
  "cv::_InputArray::_InputArray(cv::Mat const&)", referenced from:
      cv_bridge::toCvCopyImpl(cv::Mat const&, std_msgs::Header_<std::__1::allocator<void> > const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) in cv_bridge.cpp.o
      cv_bridge::matFromImage(sensor_msgs::CompressedImage_<std::__1::allocator<void> > const&) in cv_bridge.cpp.o
      cv_bridge::CvImage::toCompressedImageMsg(sensor_msgs::CompressedImage_<std::__1::allocator<void> >&, cv_bridge::Format) const in cv_bridge.cpp.o
      cv_bridge::cvtColorForDisplay(boost::shared_ptr<cv_bridge::CvImage const> const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, cv_bridge::CvtColorForDisplayOptions) in cv_bridge.cpp.o
  "cv::_InputArray::_InputArray(std::__1::vector<cv::Mat, std::__1::allocator<cv::Mat> > const&)", referenced from:
      cv_bridge::matFromImage(sensor_msgs::Image_<std::__1::allocator<void> > const&) in cv_bridge.cpp.o
  "cv::_InputArray::_InputArray(double const&)", referenced from:
      cv_bridge::cvtColorForDisplay(boost::shared_ptr<cv_bridge::CvImage const> const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, cv_bridge::CvtColorForDisplayOptions) in cv_bridge.cpp.o
  "cv::mixChannels(cv::_InputArray const&, cv::_InputArray const&, std::__1::vector<int, std::__1::allocator<int> > const&)", referenced from:
      cv_bridge::matFromImage(sensor_msgs::Image_<std::__1::allocator<void> > const&) in cv_bridge.cpp.o
  "cv::_OutputArray::_OutputArray(cv::Mat&)", referenced from:
      cv_bridge::toCvCopyImpl(cv::Mat const&, std_msgs::Header_<std::__1::allocator<void> > const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) in cv_bridge.cpp.o
      cv_bridge::cvtColorForDisplay(boost::shared_ptr<cv_bridge::CvImage const> const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, cv_bridge::CvtColorForDisplayOptions) in cv_bridge.cpp.o
  "cv::imencode(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, cv::_InputArray const&, std::__1::vector<unsigned char, std::__1::allocator<unsigned char> >&, std::__1::vector<int, std::__1::allocator<int> > const&)", referenced from:
      cv_bridge::CvImage::toCompressedImageMsg(sensor_msgs::CompressedImage_<std::__1::allocator<void> >&, cv_bridge::Format) const in cv_bridge.cpp.o
  "vtable for cv::_InputArray", referenced from:
      cv_bridge::cvtColorForDisplay(boost::shared_ptr<cv_bridge::CvImage const> const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&, cv_bridge::CvtColorForDisplayOptions) in cv_bridge.cpp.o
  NOTE: a missing vtable usually means the first non-inline virtual member function has no definition.
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/plusk01/Downloads/ros-install-osx/kinetic_desktop_full_ws/devel/.private/cv_bridge/lib/libcv_bridge.dylib] Error 1
make[1]: *** [src/CMakeFiles/cv_bridge.dir/all] Error 2
make: *** [all] Error 2
cd /Users/plusk01/Downloads/ros-install-osx/kinetic_desktop_full_ws/build/cv_bridge; catkin build --get-env cv_bridge | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................................................................................................................................................................................................................
Failed     << cv_bridge:make                                  [ Exited with code 2 ]  

You need to add a header to the cv_bridge.cpp file. Edit ros-install-osx/kinetic_desktop_full_ws/src/vision_opencv/cv_bridge/src/cv_bridge.cpp and place #include <opencv2/opencv.hpp> after all the other includes in the file.

(I also did brew uninstall opencv and brew install opencv3 --with-contrib, though I don't doing that is actually part of the solution.)

pcl_ros

Another Eigen3Config.cmake error. Like geometric_shapes above, we need to edit the CMakeLists.txt and use pkg-config instead of find_package():

Edit ros-install-osx/kinetic_desktop_full_ws/src/perception_pcl/pcl_ros/CMakeLists.txt, replace:

find_package(Eigen3 REQUIRED)

with:

find_package( PkgConfig )
pkg_check_modules( EIGEN3 REQUIRED eigen3 )
include_directories( ${EIGEN3_INCLUDE_DIRS} )

Of course, having done this I get the following warning for pcl_ros, but it seems to build okay...

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'Eigen3' but neither 'Eigen3_INCLUDE_DIRS' nor
  'Eigen3_LIBRARIES' is defined.

(In fact, I saw similar warnings to this all over the place, even in packages that I didn't touch...)

gazebo

When running the rosdep install command, a rosdep yaml is consulted that contains the a lookup for how to install the dependencies for a given package. The OS X Homebrew yaml shows the packages we are interested, here.

When I ran the rosdep intsall command, I got an error when installing gazebo complaining about missing Qt4. Well, I'm pretty sure most of ROS and the world has moved on to Qt5, but after some investigation, I found that the above rosdep yaml tells your computer to brew install gazebo, which seems to install gazebo version 1. For Kinetic, we at least want version 7. So I manually ran brew install gazebo7 and then added gazebo to the --skip-keys switch on rosdep install command:

$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y --skip-keys "libqt5-core libqt5-gui libqt5-opengl libqt5-opengl-dev libqt5-widgets qt5-qmake qtbase5-dev python-qt5-bindings python-qt5-bindings-gl python-qt5-bindings-webkit gazebo"

rviz

During making rviz, it fails it spits out a wall of warnings, with no errors that can be seen other than make: *** [all] Error 2. By going to the path that is shown at the bottom of this error, we can get a better idea of the actual error:

cd /Users/plusk01/Downloads/ros-install-osx/kinetic_desktop_full_ws/build/rviz

Once here, run make. We see there is a linker error: ld: library not found for -lQtCore. This is similar to before with qt_gui_cpp above. There is probably a better way to solve this, but my solution was to just comment out the lQtCore and friends from the LIBS make variable. To find where this is, I ran find . -type f -exec grep --color=auto -H -- 'Compiling generated code for rviz_sip Python bindings...' {} + to show me the files that have this string in it, since this was the last make command before the linker error. After finding the file (src/python_bindings/sip/CMakeFiles/librviz_sip.dir/build.make), I open it and look for the location where that text is found. The command just after the text is:

cd /Users/plusk01/Downloads/ros-install-osx/kinetic_desktop_full_ws/devel/.private/rviz/bin/sip/rviz_sip && make

So I go to that directory and find a Makefile. I edit the Makefile and comment out -lQtCore and friends:

LIBS = -L/Users/plusk01/Downloads/ros-install-osx/kinetic_desktop_full_ws/devel/.private/rviz/lib -L/usr/local/Cellar/qt5/5.6.1-1/lib -lrviz # -lQtCore -lQtGui -lQtWidgets -lQtPrintSupport

Going back to my terminal where I try and build everything, I type catkin build --limit-status-rate 1 to try to build again.

After a Successful Build and Installation

After solving all the linker, cmake, and compiler errors I get a successful build! I then go back to Mike Purvis's install script and see if there is anything that needs to be ran after the catkin build --limit-status-rate 1 command. The only thing left to do is to source /opt/ros/kinetic/setup.bash so that I can start running ROS. To test, I run roslaunch gazebo_ros mud_world.launch. It works!

Resources


Miscellaneous

  catkin config --install  --install-space ${ROS_INSTALL_DIR} --cmake-args \
    -DCATKIN_ENABLE_TESTING=1 \
    -DCMAKE_BUILD_TYPE=Release \
    -DPYTHON_LIBRARY=$(python -c "import sys; print sys.prefix")/lib/libpython2.7.dylib \
    -DPYTHON_INCLUDE_DIR=$(python -c "import sys; print sys.prefix")/include/python2.7 \
    -DCMAKE_MODULE_PATH=/usr/local/share/cmake/Modules/
vi /opt/ros/kinetic/share/python_qt_binding/cmake/sip_configure.py
/usr/local/Cellar/sip/4.18.1/bin/sip -c ~/Downloads/ros-install-osx/kinetic_desktop_full_ws/build/qt_gui_cpp/sip/qt_gui_cpp_sip -b ~/Downloads/ros-install-osx/kinetic_desktop_full_ws/build/qt_gui_cpp/sip/qt_gui_cpp_sip/pyqtscripting.sbf -I /usr/local/share/sip/PyQt5 -w -x VendorID -t WS_MACX -t Qt_5_6_1 -x Py_v3 qt_gui_cpp.sip

pkg-config --exists eigen3

/Users/plusk01/Downloads/ros-install-osx/kinetic_desktop_full_ws/build/qt_gui_cpp/sip/qt_gui_cpp_sip - the path to a Makefile where I changed qt to qt5

relink qt4: /usr/local/lib

LDFLAGS=-L/usr/local/opt/qt5/lib CMAKE_MODULE_PATH=/usr/local/share/cmake/Modules/FindEigen3.cmake CPPFLAGS=-I/usr/local/opt/qt5/include CMAKE_PREFIX_PATH=/usr/local/opt/qt5/lib/cmake/:/usr/local/share/cmake/ LD_LIBRARY_PATH=:/usr/local/opt/qt5/lib CXXFLAGS=-I/usr/local/opt/qt5/include

@plusk01

This comment has been minimized.

Copy link
Owner

plusk01 commented Oct 26, 2016

If when trying to run rqt_graph or similar you get the python error:

NameError: global name 'dot_parser' is not defined

Then make sure to install pyparsing and pydot:

$ pip install -U pyparsing pydot
@smits

This comment has been minimized.

Copy link

smits commented Dec 28, 2016

I found a "proper" fix for the linking errors for qt_gui_cpp and rviz, see ros-visualization/python_qt_binding#40

@burf2000

This comment has been minimized.

Copy link

burf2000 commented Feb 9, 2017

Man I cant install it

@plusk01

This comment has been minimized.

@angadhn

This comment has been minimized.

Copy link

angadhn commented Aug 9, 2017

Thanks for posting this. As suggested, I set the ROS_DISTRO variable to kinetic and followed clone mike purvis' repo. Trying to install gives me the following error:

~/Software/ros-install-osx/kinetic_desktop_full_ws ~/Software/ros-install-osx
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
robot_model: No definition of [liburdfdom-tools] for OS [osx]

Any suggestions on how I can go about fixing this?

@angadhn

This comment has been minimized.

Copy link

angadhn commented Aug 9, 2017

I presume this is an issue with using Sierra?

@ejalaa12

This comment has been minimized.

Copy link

ejalaa12 commented Aug 20, 2017

I have exactly the same issue while installing the dependencies for Kinetic on Sierra @angadhn. Did you find any solution?

@kengregson

This comment has been minimized.

Copy link

kengregson commented Aug 22, 2017

+1 on Sierra

@kengregson

This comment has been minimized.

Copy link

kengregson commented Aug 22, 2017

Noticed while following Mike Purvis' awesome script, ..src/robot_model/robot_model/package.xml references liburdfdom-tools (which isn't listed as a homebrew package in the OSX rosdep. Replaced it with liburdfdom-dev (which is a homebrew package) and script ran to the expected: homebrew: failed to detect successful installation of [qt5].

@plusk01

This comment has been minimized.

Copy link
Owner

plusk01 commented Aug 25, 2017

I just recently wiped my mac and started over with macOS Sierra and I actually didn't use Mike's stuff directly -- I ended up mainly following this guide from @jmtatsch (as linked above).

However, many of the issues/fixes that are posted here worked for me. Some of the other ones I found in the links that I posted in my comment above.

It seems to me that some of the biggest pains come from Homebrew and Python. @jmtatsch recommended just uninstalling Homebrew and starting over (the nuclear option) and then installing the brewed Python first thing:

# 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

I hope this is somewhat helpful. Hopefully the release of ROS2 will make this a lot smoother!

@kengregson

This comment has been minimized.

Copy link

kengregson commented Sep 2, 2017

True source of qt_gui_cpp failure may be documented by @adamlukomski in http://barelywalking.com/?p=13

when building qt_gui_cpp you get an error:

/usr/share/sip/PyQt5/QtCore/qregularexpression.sip:26:32: fatal error: qregularexpression.h: No such file or directory
compilation terminated.

It is caused by calling qmake instead of qmake-qt5 in … guess what! src/python_qt_binding
Yeah, didn’t see that one coming!
Inside the src/python_qt_binding/cmake/sip_configure.py there is:

env['QT_SELECT'] = '5'
qtconfig = subprocess.check_output(
['qmake', '-query'], env=env, universal_newlines=True)

@plusk01

This comment has been minimized.

Copy link
Owner

plusk01 commented Dec 27, 2017

After upgrading to macOS High Sierra (10.13.x), rosdep was throwing an 'unrecognized version' error:

Please go to the rosdep page [1] and file a bug report with the stack trace below.
[1] : http://www.ros.org/wiki/rosdep

rosdep version: 0.11.8

Traceback (most recent call last):
  File "/usr/local/lib/python2.7/site-packages/rosdep2/main.py", line 137, in rosdep_main
    exit_code = _rosdep_main(args)
  File "/usr/local/lib/python2.7/site-packages/rosdep2/main.py", line 381, in _rosdep_main
    return _no_args_handler(command, parser, options, args)
  File "/usr/local/lib/python2.7/site-packages/rosdep2/main.py", line 389, in _no_args_handler
    return command_handlers[command](options)
  File "/usr/local/lib/python2.7/site-packages/rosdep2/main.py", line 579, in command_update
    error_handler=update_error_handler)
  File "/usr/local/lib/python2.7/site-packages/rosdep2/sources_list.py", line 472, in update_sources_list
    rosdep_data = get_gbprepo_as_rosdep_data(dist_name)
  File "/usr/local/lib/python2.7/site-packages/rosdep2/gbpdistro_support.py", line 147, in get_gbprepo_as_rosdep_data
    ctx = create_default_installer_context()
  File "/usr/local/lib/python2.7/site-packages/rosdep2/__init__.py", line 86, in create_default_installer_context
    m.register_platforms(context)
  File "/usr/local/lib/python2.7/site-packages/rosdep2/platforms/debian.py", line 53, in register_platforms
    register_linaro(context)
  File "/usr/local/lib/python2.7/site-packages/rosdep2/platforms/debian.py", line 67, in register_linaro
    (os_name, os_version) = context.get_os_name_and_version()
  File "/usr/local/lib/python2.7/site-packages/rosdep2/installers.py", line 113, in get_os_name_and_version
    os_name = self.os_detect.get_name()
  File "/usr/local/lib/python2.7/site-packages/rospkg/os_detect.py", line 652, in get_name
    self.detect_os()
  File "/usr/local/lib/python2.7/site-packages/rospkg/os_detect.py", line 615, in detect_os
    self._os_codename = os_detector.get_codename()
  File "/usr/local/lib/python2.7/site-packages/rospkg/os_detect.py", line 340, in get_codename
    return _osx_codename(*ver[0:2])
  File "/usr/local/lib/python2.7/site-packages/rospkg/os_detect.py", line 318, in _osx_codename
    raise OsNotDetected("unrecognized version: %s.%s" % (major, minor))
OsNotDetected: unrecognized version: 10.13

This comes from the rospkg Python site package in the os_detect.py script (/usr/local/lib/python2.7/site-packages/rospkg/os_detect.py). The error is that the _osx_codename_map does not have an entry for the minor version 13 for High Sierra (see for example, this PR). After adding an entry to the dict manually, it worked:

# Source: http://en.wikipedia.org/wiki/Mac_OS_X#Versions
_osx_codename_map = {
    4: 'tiger',
    5: 'leopard',
    6: 'snow',
    7: 'lion',
    8: 'mountain lion',
    9: 'mavericks',
    10: 'yosemite',
    11: 'el capitan',
    12: 'sierra',
    13: 'high sierra'}
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment