You're reading the documentation for a version of ROS 2 that has reached its EOL (end-of-life), and is no longer officially supported. If you want up-to-date information, please have a look at Galactic.
How to setup a macOS Jenkins node¶
Table of Contents
Install: APFS case-sensitive Post-install: No Siri, no location services, no cloud anything, no analytics, no filevault disk encryption.
Make sure you don’t use too long of a password. That makes VNC auth fail in bizarre ways. In particular, VNC auth limits you to 8 characters.
Go to: Apple->System Preferences->Sharing
set hostname to something reasonable
check “Remote Login”
check “Screen Sharing”
add Terminal to the dock
Go to: Apple->System Preferences->Energy Saver
set sleep to never
Go to: Apple->Security
click lock to unlock it
“Allow Apps from app store and verified developers”
uncheck “Require password after 5 minutes” box
uncheck “Disable automatic login”
Install XCode tools:
$ xcode select --install
Install JDK for Jenkins.
Easiest way is to type
java at the terminal and let Apple link you to Oracle’s JDK download.
I installed the latest JDK 8 (withholding Java 9 for now).
Install Homebrew following instructions at https://brew.sh
ssh-askpass via homebrew
$ brew tap theseal/ssh-askpass $ brew install ssh-askpass
~/.bash_profile with this one line:
~/.bashrc with one line:
export ROS_DOMAIN_ID=XXX # where XXX is chosen from this document
Set up dummy git names:
$ git config --global user.email "firstname.lastname@example.org" $ git config --global user.name "HOSTNAME"
Install them according to our install instructions.
the optional RTI Connext and OpenSplice packages
everything but downloading the source and building ROS 2 (unless you want to do so for testing the setup)
brew install sip pyqt5
Fix some path names when looking for sip stuff during install (see ROS 1 wiki):
ln -s /usr/local/share/sip/Qt5 /usr/local/share/sip/PyQt5
brew install graphviz
python3 -m pip install pygraphviz pydot
brew link --force qt
This is the quickest solution but may cause issues when upgrading Qt or if other packages are expecting Qt 4. Another option is to update your
CMAKE_PREFIX_PATHto include the Qt install location:
$ export PATH="$(brew --prefix qt)/bin:$PATH" $ export CMAKE_PREFIX_PATH="$(brew --prefix qt):$CMAKE_PREFIX_PATH"
RTI Connext Specific Instructions¶
The Open Robotics license is here (private repo): https://github.com/osrf/rticonnextdds-src/blob/license/rti_license.dat
Open the RTI launcher application
In the RTI launcher, open the file dialog to choose the license file.
Install it for all users.
Click the Installation tab
Click RTI Package installer
Navigate to the connext extracted directory (usually something like
rti_security rtipkg(don’t bother with the openssl ones, we use system openssl)
Set the shared memory parameters from https://community.rti.com/kb/osx510
Do not bother to reboot yet.
openssl-1.0.2n-target-x64Darwin17clang9.0.tar.gzfrom RTI’s website using an RTI account and extract it.
tar -xzvf openssl-1.0.2n-target-x64Darwin17clang9.0.tar.gz
Add environment variables pointing to the paths to the RTI openssl libraries.
export RTI_OPENSSL_BIN=/Users/osrf/openssl-1.0.2n/x64Darwin17clang9.0/release/bin export RTI_OPENSSL_LIBS=/Users/osrf/openssl-1.0.2n/x64Darwin17clang9.0/release/lib
$ mkdir jenkins jenkins-agent $ cd jenkins-agent $ wget https://ci.ros2.org/jnlpJars/slave.jar
Copy the jenkins agent plist from https://gist.github.com/nuclearsandwich/c9546e76ba63767bc1025c393e85235b
Edit the file to match the jnlp URL and secret of the host you’re setting up. You may need to create a new agent if you’re not re-imaging an existing one.
$ mkdir ~/Library/LaunchAgents $ cp ~/jenkins-agent/org.ros2.ci.jenkins-agent.plist ~/Library/LaunchAgents $ launchctl load -w ~/Library/LaunchAgents/org.ros2.ci.jenkins-agent.plist
Reboot! You should be good to go, run some test CI jobs.