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ROS2 Mac OSX Support

This is the natural extension of ros1-mac-osx. The purpose of this repository is to hold a working copy of the libraries that has successfully built ROS on my Mac OSX machine. It's not elegant at all, in fact, it's very "hacky" and might clobber some existing brew packages on your machine. Regardless, I'm putting this together for my future self and the greater ROS community. That being said, I make no guarantees as to whether it will work for you. Good luck!

The following OSX versions have been tested,

  • Mac OS: Catalina (10.15.7)

Instructions

Follow the steps to get your /usr/local/ directory working for ROS1 via ros1-mac-osx, as these following instructions are based off of that. I'm guessing if I my machine did not have all these ROS1 artifacts it would make the build much easier if I had just followed the advised ROS2 Foxy instructions. But since Catalina is technically not supported I went with systematically going through the dependencies myself.

Anyways, the following documents what I did,

  • Forcefully linked my Python to 3.10 and manually did pip installs
  • Fixed the minimal cmake 3.14 requirement by going to cmake 3.21.4
  • Fixed several issues with openssl and tinyxml2,
  • Copied over several xcode framework headers into /usr/local/include/ (probably not needed if I did xcode stuff properly)

Finally, I documented conveniently added these actions into their own separate scripts if you choose to run them in your build journey,

bash pip-install.sh
bash brew-install.sh
bash cp-mac-osx-sdk.sh

After these updates and patching up some "known issues" (see below), I was able to build with colcon

mkdir -p ~/ros2_foxy/src; cd ~/ros2_foxy
vcs import --input https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos src
COLCON_EXTENSION_BLACKLIST=colcon_core.event_handler.desktop_notification;  colcon build --symlink-install --packages-skip-by-dep python_qt_binding

Setting up ~/.bashrc

At the end of the day, my ~/.bashrc looked something like,

export LDFLAGS="-L/usr/local/opt/boost@1.76/lib"
export CPPFLAGS="-I/usr/local/opt/boost@1.76/include"
export PATH="/usr/local/opt/cmake@3.21.4/bin:$PATH"
export OPENSSL_ROOT_DIR=/usr/local/opt/openssl@3

export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/usr/local/opt/qt@5
export PATH=$PATH:/usr/local/opt/qt@5/bin

# Force rviz to run in "light theme" since the Foxy default looks bad in dark mode
defaults write rviz2 NSRequiresAquaSystemAppearance -boolean true

Known Issues

Including math.h

As reported here, there appears to be some sort of fun cmath header issue which was "patched" by editting /Library/Developer/CommandLineTools/usr/include/c++/v1/math.h and changing the include,

#include_next <math.h>

to the hacky include path,

#include </usr/local/include/math.h>

Of course this /usr/local/include/ is obtained by the previous steps.

Issues with btVector3

As reported here, there was an issue when building bullet and the fix was done by editting /usr/local/include/bullet/LinearMath/btVector3.h and replacing,

#define BT_SHUFFLE(x,y,z,w) ((w)<<6 | (z)<<4 | (y)<<2 | (x))

with the new code,

#define BT_SHUFFLE(x, y, z, w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff)