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setup failed

macOS Big Sur (11.6.1, 16-inch, 2019, intel) + ROS2 Foxy

setup with docker (🚫)

refs

  • finally I install ros2 with docker.
$ docker pull osrf/ros:noetic-desktop-full-buster
$ brew install socat

# https://www.cyberciti.biz/faq/apple-osx-mountain-lion-mavericks-install-xquartz-server/
$ brew install --cask xquartz
$ sudo reboot
# xquartz 보안 설정 모두 열어주기
  • host 터미널에서 아래 명령어 실행
# ip 확인 후 xhost에 추가
$ ip=$(ifconfig en0 | grep inet | awk '$1=="inet" {print $2}')
$ xhost + $ip

# 컨테이너 생성
$ docker run -it -e DISPLAY=$ip:0 --name ros osrf/ros:noetic-desktop-full-buster
  • 하지만 추후 네트워크 통신이 많아지는 걸 고려하면 오히려 hypervisor를 쓰는게 더 현명해 보임
  • 추가로 문서 또한 리눅스 문서들이 많으므로 vm ware 사용

setup on Host (🚫)

This was failed

Pre-Install ROS2 on mac

$ brew doctor

$ softwareupdate --all --install --force
$ sudo rm -rf /Library/Developer/CommandLineTools
$ sudo xcode-select --install
$ brew link kubernetes-cli
$ brew link python@3.9
$ echo 'export PATH="/usr/local/sbin:$PATH"' >> ~/.zshrc

Install ROS2 on mac

brew install python@3.8
brew unlink python && brew link --force python@3.8
echo 'export PATH="/usr/local/opt/python@3.8/bin:$PATH"' >> ~/.zshrc
export LDFLAGS="-L/usr/local/opt/python@3.8/lib"
export PKG_CONFIG_PATH="/usr/local/opt/python@3.8/lib/pkgconfig"

brew install asio tinyxml2 tinyxml eigen pcre poco
brew install openssl && echo "export OPENSSL_ROOT_DIR=$(brew --prefix openssl)" >> ~/.zshrc
brew install qt freetype assimp sip pyqt5
brew install console_bridge log4cxx spdlog cunit graphviz

python3 -m pip install pygraphviz pydot catkin_pkg empy ifcfg lark-parser lxml netifaces numpy pyparsing pyyaml setuptools argcomplete

pip3 install -U colcon-common-extensions

# OpenCV는 필수는 아닙니다. 설치시 시간이 엄청 오래 걸리니 고민해보세요.
brew install opencv

Download ROS Foxy Binary

# https://github.com/ros2/ros2/releases

mkdir -p ~/ros2_foxy
cd ~/ros2_foxy
tar xf ~/Downloads/ros2-foxy-20211013-macos-amd64.tar.bz2

Check installed

$ . ~/ros2_foxy/ros2-osx/local_setup.zsh

Error

 $ . ~/ros2_foxy/ros2-osx/local_setup.zsh
[connext_cmake_module] Warning: The location at which Connext was found when the workspace was built [[/Applications/rti_connext_dds-5.3.1]] does not point to a valid directory, and the NDDSHOME environment variable has not been set. Support for Connext will not be available.
  • csrutil disable로 시도해보았지만 실패
  • ros2 바이너리 버전을 낮춰서 시도해보았지만 역시 실패
  • big sur과 맞지 않는 source code에러가 있는 듯하다.

refs