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macOS-Development-Setup.rst

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macOS (source)

Table of Contents

System requirements

We currently support macOS Mojave (10.14).

Install prerequisites

You need the following things installed to build ROS 2:

  1. Xcode

    • If you don't already have it installed, install [Xcode](https://apps.apple.com/app/xcode/id497799835).

    • Note: Versions of Xcode later than 11.3.1 can no longer be installed on macOS Mojave, so you will need to install an older version manually, see: https://stackoverflow.com/a/61046761

    • Also, if you don't already have it installed, install the Command Line Tools:

      xcode-select --install
# This command will not succeed if you have not installed Xcode.app
sudo xcode-select --switch /Applications/Xcode.app/Contents/Developer
# If you installed Xcode.app manually, you need to either open it or run:
sudo xcodebuild -license
# To accept the Xcode.app license

  2. brew (needed to install more stuff; you probably already have this):

    • Follow installation instructions at http://brew.sh/

    • Optional: Check that brew is happy with your system configuration by running:

      brew doctor

      Fix any problems that it identifies.

  3. Use brew to install more stuff:

    brew install asio assimp bison bullet cmake console_bridge cppcheck \
  cunit eigen freetype graphviz opencv openssl orocos-kdl pcre poco \
  pyqt@5 python qt@5 sip spdlog osrf/simulation/tinyxml1 tinyxml2

  4. Setup some environment variables:

    # Add the openssl dir for DDS-Security
# if you are using BASH, then replace '.zshrc' with '.bashrc'
echo "export OPENSSL_ROOT_DIR=$(brew --prefix openssl)" >> ~/.zshrc

# Add the Qt directory to the PATH and CMAKE_PREFIX_PATH
export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$(brew --prefix qt@5)
export PATH=$PATH:$(brew --prefix qt@5)/bin

  5. Use python3 -m pip (just pip may install Python3 or Python2) to install more stuff:

    python3 -m pip install --upgrade pip

python3 -m pip install -U \
  --config-settings="--global-option=build_ext" \
  --config-settings="--global-option=-I$(brew --prefix graphviz)/include/" \
  --config-settings="--global-option=-L$(brew --prefix graphviz)/lib/" \
  argcomplete catkin_pkg colcon-common-extensions coverage \
  cryptography empy flake8 flake8-blind-except==0.1.1 flake8-builtins \
  flake8-class-newline flake8-comprehensions flake8-deprecated \
  flake8-docstrings flake8-import-order flake8-quotes \
  importlib-metadata lark==1.1.1 lxml matplotlib mock mypy==0.931 netifaces \
  nose pep8 psutil pydocstyle pydot pygraphviz pyparsing==2.4.7 \
  pytest-mock rosdep rosdistro setuptools==59.6.0 vcstool

    Please ensure that the $PATH environment variable contains the install location of the binaries ($(brew --prefix)/bin)

  6. Optional: if you want to build the ROS 1<->2 bridge, then you must also install ROS 1:

    • Start with the normal install instructions: http://wiki.ros.org/kinetic/Installation/OSX/Homebrew/Source

    • When you get to the step where you call rosinstall_generator to get the source code, here's an alternate invocation that brings in just the minimum required to produce a useful bridge:

      rosinstall_generator catkin common_msgs roscpp rosmsg --rosdistro kinetic --deps --wet-only --tar > kinetic-ros2-bridge-deps.rosinstall
wstool init -j8 src kinetic-ros2-bridge-deps.rosinstall

      Otherwise, just follow the normal instructions, then source the resulting install_isolated/setup.bash before proceeding here to build ROS 2.

Disable System Integrity Protection (SIP)

macOS/OS X versions >=10.11 have System Integrity Protection enabled by default. So that SIP doesn't prevent processes from inheriting dynamic linker environment variables, such as DYLD_LIBRARY_PATH, you'll need to disable it following these instructions.

Get the ROS 2 code

Create a workspace and clone all repos:

mkdir -p ~/ros2_{DISTRO}/src
cd ~/ros2_{DISTRO}
vcs import --input https://raw.githubusercontent.com/ros2/ros2/{REPOS_FILE_BRANCH}/ros2.repos src

Install additional DDS vendors (optional)

If you would like to use another DDS or RTPS vendor besides the default, you can find instructions :doc:`here <../RMW-Implementations>`.

Build the ROS 2 code

Run the colcon tool to build everything (more on using colcon in :doc:`this tutorial <../../Tutorials/Beginner-Client-Libraries/Colcon-Tutorial>`):

cd ~/ros2_{DISTRO}/
colcon build --symlink-install --packages-skip-by-dep python_qt_binding

Note: due to an unresolved issue with SIP, Qt@5, and PyQt5, we need to disable python_qt_binding to have the build succeed. This will be removed when the issue is resolved, see: ros-visualization/python_qt_binding#103

Environment setup

Source the ROS 2 setup file:

. ~/ros2_{DISTRO}/install/setup.zsh

This will automatically set up the environment for any DDS vendors that support was built for.

Try some examples

In one terminal, set up the ROS 2 environment as described above and then run a C++ talker:

ros2 run demo_nodes_cpp talker

In another terminal source the setup file and then run a Python listener:

ros2 run demo_nodes_py listener

You should see the talker saying that it's Publishing messages and the listener saying I heard those messages. This verifies both the C++ and Python APIs are working properly. Hooray!

Next steps after installing

Continue with the tutorials and demos <../../Tutorials> to configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.

Using the ROS 1 bridge

The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa. See the dedicated documentation on how to build and use the ROS 1 bridge.

Additional RMW implementations (optional)

The default middleware that ROS 2 uses is Fast DDS, but the middleware (RMW) can be replaced at runtime. See the :doc:`guide <../../How-To-Guides/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.

Stay up to date

See :doc:`../Maintaining-a-Source-Checkout` to periodically refresh your source installation.

Troubleshooting

Troubleshooting techniques can be found :ref:`here <macOS-troubleshooting>`.

Uninstall

  1. If you installed your workspace with colcon as instructed above, "uninstalling" could be just a matter of opening a new terminal and not sourcing the workspace's setup file. This way, your environment will behave as though there is no {DISTRO_TITLE} install on your system.

  2. If you're also trying to free up space, you can delete the entire workspace directory with:

    rm -rf ~/ros2_{DISTRO}