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ROS2 Jazzy Installation on Apple Silicon(M1) MacOS X(Sonoma 14.5) #4550

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ROS2 Jazzy Installation on Apple Silicon(M1) MacOS X(Sonoma 14.5) #4550

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roz2 jazzy installation
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175 changes: 127 additions & 48 deletions source/Installation/Alternatives/macOS-Development-Setup.rst
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Expand Up @@ -13,7 +13,7 @@ macOS (source)
System requirements
-------------------

We currently support macOS Mojave (10.14).
We currently support macOS Sonoma (14.5) with Apple Silicon (e.g. M1) Mac

System setup
------------
Expand Down Expand Up @@ -41,103 +41,160 @@ You need the following things installed to build ROS 2:
# To accept the Xcode.app license

#.
**brew** *(needed to install more stuff; you probably already have this)*:
**brew** *(needed to install dependencies; you probably already have this)*:


* Follow installation instructions at http://brew.sh/
* Follow installation instructions at http://brew.sh/.

*
*Optional*: Check that ``brew`` is happy with your system configuration by running:
Check that ``brew`` is set not to use ``Rosseta`` (we don't want emulation of x86_64 binaries):

following code will show configuration of current brew installation. Make sure ``Rosseta 2: false``.

.. code-block:: bash

brew doctor
brew config

If not, remove one that is using Rosseta (it's installed at ``/usr/local``)

Fix any problems that it identifies.
Use the uninstall script by Homebrew (https://github.com/homebrew/install?tab=readme-ov-file#uninstall-homebrew)

Make sure you add ``--path /usr/local`` at the end of the uninstall command to remove the Rosseta installation.

#.
Use ``brew`` to install more stuff:
Use ``brew`` to install dependencies:

First, set environment for brew:

.. code-block:: bash

echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> ~/.zprofile
eval "$(/opt/homebrew/bin/brew shellenv)"

.. code-block:: bash

brew install asio assimp bison bullet cmake console_bridge cppcheck \
cunit eigen freetype graphviz opencv openssl orocos-kdl pcre poco \
pyqt@5 python qt@5 sip spdlog tinyxml2
cunit eigen freetype graphviz opencv openssl orocos-kdl pcre poco \
pyqt@5 python@3.11 qt@5 sip spdlog tinyxml tinyxml2

#.
Setup some environment variables:

.. code-block:: bash

# Add the openssl dir for DDS-Security
# if you are using BASH, then replace '.zshrc' with '.bashrc'
echo "export OPENSSL_ROOT_DIR=$(brew --prefix openssl)" >> ~/.zshrc
export OPENSSL_ROOT_DIR=$(brew --prefix openssl)"

# Add the Qt directory to the PATH and CMAKE_PREFIX_PATH
export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$(brew --prefix qt@5)
export CMAKE_PREFIX_PATH=$(brew --prefix qt@5):$(brew --prefix qt@5)/lib:/opt/homebrew/opt:$(brew --prefix)/lib
export PATH=$PATH:$(brew --prefix qt@5)/bin

# Disable notification during compile
export COLCON_EXTENSION_BLOCKLIST=colcon_core.event_handler.desktop_notification

#.
Use ``python3 -m pip`` (just ``pip`` may install Python3 or Python2) to install more stuff:
Check that you have python3.11 installed (we've installed with Brew above):

.. code-block:: bash

python3 -m pip install --upgrade pip
python3 --version
# it should print 3.11.x

python3 -m pip install -U \
--config-settings="--global-option=build_ext" \
--config-settings="--global-option=-I$(brew --prefix graphviz)/include/" \
--config-settings="--global-option=-L$(brew --prefix graphviz)/lib/" \
argcomplete catkin_pkg colcon-common-extensions coverage \
cryptography empy flake8 flake8-blind-except==0.1.1 flake8-builtins \
flake8-class-newline flake8-comprehensions flake8-deprecated \
flake8-docstrings flake8-import-order flake8-quotes \
importlib-metadata jsonschema lark==1.1.1 lxml matplotlib mock mypy==0.931 netifaces \
nose pep8 psutil pydocstyle pydot pygraphviz pyparsing==2.4.7 \
pytest-mock rosdep rosdistro setuptools==59.6.0 vcstool

Please ensure that the ``$PATH`` environment variable contains the install location of the binaries (``$(brew --prefix)/bin``)

#.
*Optional*: if you want to build the ROS 1<->2 bridge, then you must also install ROS 1:
Create a virtual environment for Python3.11:

.. code-block:: bash

* 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_generator`` to get the source code, here's an alternate invocation that brings in just the minimum required to produce a useful bridge:
# Generate python virtual environment
python3 -m venv ~/.ros2_venv
# Activate python3.11 virtual environment
source ~/.ros2_venv/bin/activate
# now you will see (.ros2_venv) in your terminal prompt

.. code-block:: bash
Use ``python3 -m pip`` to install more stuff:

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
.. code-block:: bash

# make sure you see (.ros2_venv) in your terminal prompt
python3 -m pip install --upgrade pip

Otherwise, just follow the normal instructions, then source the resulting ``install_isolated/setup.bash`` before proceeding here to build ROS 2.
python3 -m pip install -U \
argcomplete catkin_pkg colcon-common-extensions coverage \
cryptography empy flake8 flake8-blind-except==0.1.1 flake8-builtins \
flake8-class-newline flake8-comprehensions flake8-deprecated \
flake8-docstrings flake8-import-order flake8-quotes \
importlib-metadata jsonschema lark==1.1.1 lxml matplotlib mock mypy==0.931 netifaces \
nose pep8 psutil pydocstyle pydot pyparsing==2.4.7 \
pytest-mock rosdep rosdistro setuptools==59.6.0 vcstool

python3 -m pip install \
--config-settings="--global-option=build_ext" \
--config-settings="--global-option=-I/opt/homebrew/opt/graphviz/include/" \
--config-settings="--global-option=-L/opt/homebrew/opt/graphviz/lib/" \
pygraphviz

Disable System Integrity Protection (SIP)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Please ensure that the ``$PATH`` environment variable contains the install location of the binaries (``$(brew --prefix)/bin``)

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 <https://developer.apple.com/library/content/documentation/Security/Conceptual/System_Integrity_Protection_Guide/ConfiguringSystemIntegrityProtection/ConfiguringSystemIntegrityProtection.html>`__.

Build ROS 2
-----------

Get ROS 2 code
^^^^^^^^^^^^^^

Create a workspace and clone all repos:
Create a workspace and clone all repos (cloning the eact release version tag is required for patches):

.. code-block:: bash

mkdir -p ~/ros2_{DISTRO}/src
cd ~/ros2_{DISTRO}
vcs import --input https://raw.githubusercontent.com/ros2/ros2/{REPOS_FILE_BRANCH}/ros2.repos src
export JAZZY_RELEASE_TAG=release-jazzy-20240523
vcs import --force --shallow --retry 0 --input https://raw.githubusercontent.com/ros2/ros2/$JAZZY_RELEASE_TAG/ros2.repos src

Patch Files for macOS Installation
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

First compile up to ``cyclonedds`` to generate compile structure and apply patches,

.. code-block:: bash

python3 -m colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF -Wno-dev \
-Wno-sign-conversion -Wno-infinite-recursion \
--packages-skip-by-dep python_qt_binding --packages-up-to cyclonedds \
--event-handlers console_cohesion+

Apply patches,

.. code-block:: bash

# patch for cyclonedds
ln -s "../../iceoryx_posh/lib/libiceoryx_posh.dylib" install/iceoryx_binding_c/lib/libiceoryx_posh.dylib
ln -s "../../iceoryx_hoofs/lib/libiceoryx_hoofs.dylib" install/iceoryx_binding_c/lib/libiceoryx_hoofs.dylib
ln -s "../../iceoryx_hoofs/lib/libiceoryx_platform.dylib" install/iceoryx_binding_c/lib/libiceoryx_platform.dylib

Install additional RMW implementations (optional)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
# Patch for orocos-kdl(to use ones that of brew)
curl -sSL https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/patches/geometry2_tf2_eigen_kdl.patch | patch -p1 -Ns
curl -sSL https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/patches/ros_visualization_interactive_markers.patch | patch -p1 -Ns
curl -sSL https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/patches/kdl_parser.patch | patch -p1 -Ns

# patch for rviz_ogre_vendor
curl -sSL https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/patches/rviz_default_plugins.patch | patch -p1 -Ns
curl -sSL https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/patches/rviz_ogre_vendor.patch | patch -p1 -Ns
curl -sSL https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/patches/0001-pragma.patch | patch -p1 -Ns

# patch for rosbag2_transport
curl -sSL https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/patches/rosbag2_transport.patch | patch -p1 -Ns

# Fix brew linking of qt@5 (one from brew installation)
brew unlink qt && brew link qt@5

# Revert python_orocos_kdl_vendor back to 0.4.1
rm -rf src/ros2/orocos_kdl_vendor
git clone https://github.com/ros2/orocos_kdl_vendor.git src/ros2/orocos_kdl_vendor
( cd ./src/ros2/orocos_kdl_vendor/python_orocos_kdl_vendor || exit; git checkout 0.4.1 )

# Remove eclipse-cyclonedds (this doesn't work)
rm -rf src/eclipse-cyclonedds

The default middleware that ROS 2 uses is ``Fast DDS``, but the middleware (RMW) can be replaced at build or runtime.
See the :doc:`guide <../../How-To-Guides/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.

Build the code in the workspace
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Expand All @@ -147,7 +204,17 @@ Run the ``colcon`` tool to build everything (more on using ``colcon`` in :doc:`t
.. code-block:: bash

cd ~/ros2_{DISTRO}/
colcon build --symlink-install --packages-skip-by-dep python_qt_binding
python3.11 -m colcon build --symlink-install \
--packages-skip-by-dep python_qt_binding \
--cmake-args \
--no-warn-unused-cli \
-DBUILD_TESTING=OFF \
-DINSTALL_EXAMPLES=ON \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_OSX_SYSROOT=/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk \
-DCMAKE_OSX_ARCHITECTURES="arm64" \
-DPython3_EXECUTABLE="$HOME/$VIRTUAL_ENV_ROOT/bin/python3" \
-Wno-dev --event-handlers console_cohesion+

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
Expand All @@ -159,7 +226,12 @@ Source the ROS 2 setup file:

.. code-block:: bash

# one-time activator
. ~/ros2_{DISTRO}/install/setup.zsh
# alias creation for future use
echo "alias ros='source ~/ros2_{DISTRO}/install/setup.zsh'" >> ~/.zprofile
# if you want it as default (always)
echo "source ~/ros2_{DISTRO}/install/setup.zsh" >> ~/.zprofile

This will automatically set up the environment for any DDS vendors that support was built for.

Expand All @@ -182,6 +254,13 @@ You should see the ``talker`` saying that it's ``Publishing`` messages and the `
This verifies both the C++ and Python APIs are working properly.
Hooray!

The Rviz,

.. code-block:: bash

rviz2


Next steps
----------

Expand Down