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Building ROS 2 on macOS¶
Table of Contents
You need the following things installed to build ROS 2:
If you don’t already have it installed, install Xcode.
Note: Versions of Xcode later than 11.3.1 can no longer be installed on macOS Mojave, so you will need to install an older version manually, see: https://stackoverflow.com/a/61046761
Also, if you don’t already have it installed, install the Command Line Tools:
xcode-select --install # This command will not succeed if you have not installed Xcode.app sudo xcode-select --switch /Applications/Xcode.app/Contents/Developer # If you installed Xcode.app manually, you need to either open it or run: sudo xcodebuild -license # To accept the Xcode.app license
brew (needed to install more stuff; you probably already have this):
Follow installation instructions at http://brew.sh/
Optional: Check that
brewis happy with your system configuration by running:
Fix any problems that it identifies.
brewto install more stuff:
brew install bullet cmake cppcheck eigen pcre poco python tinyxml wget # install dependencies for Fast-RTPS if you are using it brew install asio tinyxml2 brew install opencv # install console_bridge for rosbag2 brew install console_bridge # install OpenSSL for DDS-Security brew install openssl # if you are using ZSH, then replace '.bashrc' with '.zshrc' echo "export OPENSSL_ROOT_DIR=$(brew --prefix openssl)" >> ~/.bashrc # install dependencies for rcl_logging brew install log4cxx spdlog # install dependencies for Cyclone DDS brew install bison cunit
Install rviz dependencies
# install dependencies for Rviz brew install qt@5 freetype assimp # Add the Qt directory to the PATH and CMAKE_PREFIX_PATH export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/usr/local/opt/qt@5 export PATH=$PATH:/usr/local/opt/qt@5/bin
Install rqt dependencies
brew install graphviz pyqt5 sip
python3 -m pip(just
pipmay install Python3 or Python2) to install more stuff:
python3 -m pip install -U \ argcomplete catkin_pkg colcon-common-extensions coverage \ cryptography empy flake8 flake8-blind-except flake8-builtins \ flake8-class-newline flake8-comprehensions flake8-deprecated \ flake8-docstrings flake8-import-order flake8-quotes ifcfg \ importlib-metadata lark-parser lxml mock mypy netifaces \ nose pep8 pydocstyle pydot pygraphviz pyparsing \ pytest-mock rosdep setuptools vcstool matplotlib psutil rosdistro
Please ensure that the
$PATHenvironment variable contains the install location of the binaries (default:
Optional: if you want to build the ROS 1<->2 bridge, then you must also install ROS 1:
Start with the normal install instructions: http://wiki.ros.org/kinetic/Installation/OSX/Homebrew/Source
When you get to the step where you call
rosinstall_generatorto get the source code, here’s an alternate invocation that brings in just the minimum required to produce a useful bridge:
rosinstall_generator catkin common_msgs roscpp rosmsg --rosdistro kinetic --deps --wet-only --tar > kinetic-ros2-bridge-deps.rosinstall wstool init -j8 src kinetic-ros2-bridge-deps.rosinstall
Otherwise, just follow the normal instructions, then source the resulting
install_isolated/setup.bashbefore proceeding here to build ROS 2.
macOS/OS X versions >=10.11 have System Integrity Protection enabled by default.
So that SIP doesn’t prevent processes from inheriting dynamic linker environment variables, such as
DYLD_LIBRARY_PATH, you’ll need to disable it following these instructions.
Create a workspace and clone all repos:
mkdir -p ~/ros2_galactic/src cd ~/ros2_galactic wget https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos vcs import src < ros2.repos
If you would like to use another DDS or RTPS vendor besides the default, Eclipse Cyclone DDS, you can find instructions here.
colcon tool to build everything (more on using
colcon in this tutorial):
cd ~/ros2_galactic/ colcon build --symlink-install --packages-skip-by-dep python_qt_binding
Note: due to an unresolved issue with SIP, Qt@5, and PyQt5, we need to disable
python_qt_binding to have the build succeed.
This will be removed when the issue is resolved, see: https://github.com/ros-visualization/python_qt_binding/issues/103
Source the ROS 2 setup file:
This will automatically set up the environment for any DDS vendors that support was built for.
In one terminal, set up the ROS 2 environment as described above and then run a C++
ros2 run demo_nodes_cpp talker
In another terminal source the setup file and then run a Python
ros2 run demo_nodes_py listener
You should see the
talker saying that it’s
Publishing messages and the
I heard those messages.
This verifies both the C++ and Python APIs are working properly.
Continue with the tutorials and demos to configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.
The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa. See the dedicated documentation on how to build and use the ROS 1 bridge.
The default middleware that ROS 2 uses is
Cyclone DDS, but the middleware (RMW) can be replaced at runtime.
See the guide on how to work with multiple RMWs.
See Maintaining a source checkout of ROS 2 to periodically refresh your source installation.
If you installed your workspace with colcon as instructed above, “uninstalling” could be just a matter of opening a new terminal and not sourcing the workspace’s
setupfile. This way, your environment will behave as though there is no Galactic install on your system.
If you’re also trying to free up space, you can delete the entire workspace directory with:
rm -rf ~/ros2_galactic