RosDepends

Just a Test Library for the ROS 2 Dependencies on MacOS Ventura

Source Install

Here ~/ros2_rolling is the location of my ROS 2 source install, so swap that out with whatever you're using, starting within that location.

Before building run the following command:

• brew uninstall orocos-kdl

cd .. && rm -rf ros2_rolling && mkdir -p ~/ros2_rolling/src && cd ~/ros2_rolling && vcs import --input https://raw.githubusercontent.com/CursedRock17/RosDepends/main/ros2.repos src && cd ~/ros2_rolling/ && colcon build --symlink-install --packages-skip-by-dep python_qt_binding --event-handlers console_direct+

Building rqt:

colcon build --symlink-install --packages-ignore qt_gui_cpp rqt_gui_cpp

Then run:

• . ~/ros2_rolling/install/setup.zsh

When building Additional Ros tools:

• brew install llvm@{wanted version}
• sudo ln -s "$(brew --prefix llvm@{wanted version})/bin/clang-format" "/usr/local/bin/clang-format-{wanted version}"

Continious Integration (CI)

• Setup Github actions with Act or
• Use Colcon to build the industrial_ci pipeline
• Build with ros2 run

CI with Colcon

-- Prerequistes: - brew install coreutils - brew install bash

• Create a Workspace as per Colcon's guide. It can be cleared so that we just have the src file system. but instead of an example library clone in industrial_ci on the master branch.

• Next insert your wanted testing repository into src so you can do git clone https://gitrepo.git -b main or you can do a copy (More Likely) of a local repository for constant testing with cp -R old_location workspace/src

• In order to use industrial_ci we have to make some changes for OSX specifically scripts/run_ci needs to use greadlink instead of readlink

• Now we can install our testing software : colcon build --packages-select industrial_ci

• Then we need to actually setup the CI specific to a package for this example I'm using moveit2 seen from their docs: https://moveit.ros.org/documentation/contributing/continuous_integration/

• I run a small script of : ros2 run industrial_ci run_ci ~/workspace_location/src/package_to_test with my locations and packages subbed in, to which we should run into some errors during the docker pull: line 199: 1679972928N: value too great for base (error token is "1679972928N") /moveit2_ws/install/industrial_ci/share/industrial_ci/src/run.sh: No such file or directory Solve this by removin all instances of %N, whcih should 2, in the run_sh script.

• We now need to use an image that fits to arm64 instead of the linux/amd64 listed on dockerhub

Launching Moveit 2 (Currently not available)

We need to clone the following packages from source into our repo: angles, eigen_stl_containers, fcl, geometric_shapes, launch_param_builder, object_recognition_msgs, octomap, octomap_msgs, random_numbers, rosparam_shortcuts, ruckig, srdfdom

• We need to remove all std::tr1::unordered_map and std::tr1::unordered_set definitions from the code by simply removing tr1 and moving as usual
• May need to add C++14 to files that cannot run boost due to version problems so :

if (NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
  set(CMAKE_CXX_STANRDARD_REQUIRED TRUE)
endif()

• Apple Clang doesn't support all features such as, but not limited to :
  • Floating Point Values in std::from_chars : Must become integers

ROS bridge:

• Need to include glog via glog::glog
• Need to remove some boost definitions like signals which is no longer a package
• Ros Install with sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/opt/homebrew/bin/python3.11
• Replace condattr_setclock with condattr_setpthread
• Remove the @ in gencpp/scripts/msg.h.template in the const char* value() return