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@PythonToGo PythonToGo released this 02 Sep 09:59
v0.1.0
fbd2eea

First public release. rosmac makes ROS 2 Humble usable on Apple Silicon Macs:
develop natively (RoboStack: rclpy, colcon, ros2 CLI), run the heavy stack (MoveIt, Gazebo, Nav2) in a Lima Ubuntu VM where it's Tier 1, bridged over a single TCP port (zenoh, 7447). Visualize on the Mac with Foxglove.

Install

  python3.12 -m venv .venv && .venv/bin/pip install rosmac
  rosmac init && rosmac up && rosmac doctor

Requires Homebrew (brew install lima micromamba), Apple Silicon, macOS 14+, Python 3.11+. See the README Quickstart.

Highlights

  • rosmac doctor — 16 checks for field-measured macOS/ROS failure modes, --fix
  • rosmac deps / push / ps — bring your own workspace (rosdep substitute, VM build, process view)
  • Sim presets: panda-moveit, gazebo-diffbot, nav2-diffbot (/navigate_to_pose from the Mac)
  • Real-robot link over LAN — beta, surrogate-verified (plaintext TCP, trusted LAN only)
  • 30-entry field-measured pitfall database

Pinned versions

  • zenoh-bridge-ros2dds 1.9.0 (SHA-pinned, downloaded + verified by rosmac init)
  • RoboStack channel robostack-humble
  • RMW rmw_cyclonedds_cpp on both sides

Caveats

  • While 0.y.z, minor versions may break (SemVer)
  • Intel Macs unsupported; VM is headless (no RViz inside — use Foxglove on the Mac)
  • ros2 param CLI does not cross the bridge (raw parameter services do)
  • Structural limits documented in the README ("Bridge capability matrix")

Full change list:
CHANGELOG.md

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