small compilation fixes for macOS

[mamoll]

Description

Below are misc. small fixes to get MoveIt2 to compile on macOS 10.15.6. Everything ROS2-related is compiled from source.

I mostly followed the official ROS2 and MoveIt2 installation directions. A couple small hiccups:

• I had to do this:

# for catkin:
ln -s /usr/local/bin/python3 /usr/local/bin/python
# for moveit
brew install ompl

• I had to remove urdfdom*, which was pulled in by MoveIt2 installation instructions, but also existed inside the ros2 directory.
• I had to clone a bunch of extra repos:

git clone -b ros2 git@github.com:wg-perception/object_recognition_msgs.git
git clone -b ros2 git@github.com:OctoMap/octomap_msgs.git
git clone -b foxy-devel git@github.com:ros-controls/control_msgs.git
git clone -b ros2 git@github.com:ros/eigen_stl_containers.git
git clone -b ros2 git@github.com:ros-planning/random_numbers.git
git clone -b ros2 git@github.com:ros/angles.git
git clone -b ros2_devel git@github.com:ros-controls/realtime_tools.git
git clone git@github.com:ros/xacro.git
git clone git@github.com:ros/catkin.git
git clone git@github.com:ros/roslint.git

The --symlink-install flag for colcon still causes issues. I had to run colcon like so:

colcon build --catkin-cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_SYSROOT=/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk

(See also https://www.robotandchisel.com/2020/08/10/rviz2-on-mac/.) After many hours this errors out, but after source install/setup.bash running colcon again succeeds.

The Ogre include path fix seems ugly. I don't know what the proper fix is. If you look at install/rviz_ogre_vendor/opt/rviz_ogre_vendor/CMake/OGREConfig.cmake you see:

get_filename_component(OGRE_INCLUDE_DIRS "${OGRE_PREFIX_DIR}/include/OGRE" ABSOLUTE)

Note that /OGRE part. If that wasn't there, the include path fixes wouldn't be needed.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[mikeferguson]

ln -s /usr/local/bin/python3 /usr/local/bin/python

What is the error message you get if you don't do this? Is it really catkin having a problem, or is it some scripts inside MoveIt2? I originally did this until I update the shebangs on my various scripts (which, for ROS2, we should really be targeting Python3 anyways).

The --symlink-install flag for colcon still causes issues

I've seen this even on Ubuntu 20.04 with latest debs.

[mikeferguson]

This is really exciting, I'm gonna have to try this out.

[mikeferguson]

broader question: why are we using boost::bind instead of std::bind? Is there a lower-level library requiring it? If not, seems like we should update MoveIt2 to reduce our boost usage (core ROS2 has done so).

[mamoll]

... or use lambda's.

[mikeferguson]

The only downside to lambdas is that I'm not sure they are as broadly understood - they seem a little more "advanced". In various discussions I've recently had with ROS/ROS2 package maintainers, I've noticed there is pretty decent evidence that the more advanced the codebase, the harder it is to get community help.

[henningkayser]

I agree that we should switch to lambdas in cases where the function is trivial (i.e. log message and return of a result) or where another member function should be called but we need to preprocess the arguments. Otherwise,std::bind is often much shorter and more readable.

[mamoll]

ln -s /usr/local/bin/python3 /usr/local/bin/python

What is the error message you get if you don't do this? Is it really catkin having a problem, or is it some scripts inside MoveIt2? I originally did this until I update the shebangs on my various scripts (which, for ROS2, we should really be targeting Python3 anyways).

I am pretty this is due to my PYTHON_PATH setting:

export PYTHONPATH=/Users/mmoll/Library/Python/3.8/lib/python/site-packages

I hate that Home Brew and pip both install in /usr/local by default. Two package managers for potentially the same files (numpy, PyQt, etc.) seems like a terrible idea, so I configured pip to install in my user directory. Some python3 packages use
syntax that catkin (which uses #!/usr/bin/env python) cannot handle when using python2.

[codecov]

Codecov Report

Merging #271 into main will decrease coverage by 0.00%.
The diff coverage is 41.17%.

@@            Coverage Diff             @@
##             main     #271      +/-   ##
==========================================
- Coverage   47.87%   47.87%   -0.01%     
==========================================
  Files         154      154              
  Lines       15748    15749       +1     
==========================================
  Hits         7540     7540              
- Misses       8208     8209       +1     

Impacted Files	Coverage Δ
..._ros/robot_interaction/src/interaction_handler.cpp	0.00% <0.00%> (ø)
...it_ros/robot_interaction/src/robot_interaction.cpp	0.00% <0.00%> (ø)
...ics_plugin_loader/src/kinematics_plugin_loader.cpp	24.65% <50.00%> (ø)
...nning_scene_monitor/src/planning_scene_monitor.cpp	39.88% <66.66%> (ø)

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[henningkayser]

@mamoll changes look good to me. Can you confirm that the latest MGI port works on macOS as well?

[mamoll]

I merged in the latest changes from the main branch (specifically the merged MGI port) last Friday and everything still compiles.

[davetcoleman]

Can we merge this now @mamoll ? Feel free to do the honors, you have 2 approvals