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This is a complete guide for installing ROS(Robot Operating System) Kinetics bare bone version(no graphing tools due to issues with qt5) on Mac OS Sierra.
Parts of this tutorial borrows from http://wiki.ros.org/kinetic/Installation/OSX/Homebrew/Source
Parts of this tutorial borrows from http://wiki.ros.org/kinetic/Installation/OSX/Homebrew/Source
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1.Setup
First update brew and install additional cmake tool.
First update brew and install additional cmake tool.
$ brew update
$ brew install cmake
Add ROS dependencies tap and the Homebrew science tap so you can get some non-standard formulae:
$ brew tap ros/deps
$ brew tap osrf/simulation # Gazebo, sdformat, and ogre
$ brew tap homebrew/versions # VTK5
$ brew tap homebrew/science # others
Setup Environment
$ mkdir -p ~/Library/Python/2.7/lib/python/site-packages
$ echo '$(brew --prefix)/lib/python2.7/site-packages' >> ~/Library/Python/2.7/lib/python/site-packages/homebrew.pth
Before attempting to download VCDS, please look at your interface to determine the name of your interface (this will be the the LARGEST writing on the label). VCDS Release 20.4. Hello, I am completely new to ROS and I want to install it on mac OS X El Capitan. Processor 2.3 GHz Intel Core i5. My questions are.
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!!!NOTE: Do not use brew python, it will cause error later on when you run commands such as 'rostopic'.
if you have brew python linked:
if you have brew python linked:
$ brew unlink python
this command unlinks the brew python and goes back to default system python. If you skip this step, you might have to rebuild everything since ROS builds against python.
if you do not have pip for default python:
$ sudo easy_install pip
$ sudo -H python -m pip install -U pip # Update pip
then init the following packages with pip:
$ sudo -H python -m pip install -U wstool rosdep rosinstall rosinstall_generator rospkg catkin-pkg Distribute sphinx
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in order to use rosdep:
$ sudo -H rosdep init
$ rosdep update
2.Installation
Create Catkin Workspace
Create Catkin Workspace
$ mkdir ~/ros_catkin_ws
$ cd ~/ros_catkin_ws
!!!NOTE: due to qt issues, the only variant that I got working so far does not include any graphing libs
Fetch ROS-Comm: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
Fetch ROS-Comm: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.
$ rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall
$ wstool init -j8 src kinetic-ros_comm-wet.rosinstall
Resolving Dependencies
$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
!!!NOTE: Do not worry if you see the following message afterwards, it is complaining about homebrew python, which you are not using.
Warning: python-2.7.13 already installed, it's just not linked.
ERROR: the following rosdeps failed to install
homebrew: Failed to detect successful installation of [python]
Warning: python-2.7.13 already installed, it's just not linked.
ERROR: the following rosdeps failed to install
homebrew: Failed to detect successful installation of [python]
Building the Catkin workspace(this step will take a while, go get yourself a cup of coffee):
$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
Create symbolic links such that the system knows where to find the packages(this step is necessary because we need to let the system know where the libs are located.)
$ cd ros_catkin_ws/install_isolated/lib #navigate to the dir containing all the libs
$ for n in *.dylib; do ln -s $PWD/$n /usr/local/lib/$n; done
3.Running ROS
First run:
the second step is optional depending on the firewall setting on your Mac.
First run:
$ source ~/ros_catkin_ws/install_isolated/setup.bash
$ export ROS_HOSTNAME='localhost'
the second step is optional depending on the firewall setting on your Mac.
To start the ROS process:
$roscore
If you want to be able to run ROS each time upon opening a terminal, navigate to ~/.bash_profile and add the above two lines.
YOU ARE DONE!
Check compatibility
You can upgrade to OS X El Capitan from OS X Snow Leopard or later on any of the following Mac models. Your Mac also needs at least 2GB of memory and 8.8GB of available storage space.
MacBook introduced in 2009 or later, plus MacBook (13-inch, Aluminum, Late 2008)
MacBook Air introduced in late 2008 or later
MacBook Pro introduced in mid 2007 or later
Mac mini introduced in early 2009 or later
iMac introduced in mid 2007 or later
Mac Pro introduced in early 2008 or later
Xserve models introduced in early 2009
MacBook Air introduced in late 2008 or later
MacBook Pro introduced in mid 2007 or later
Mac mini introduced in early 2009 or later
iMac introduced in mid 2007 or later
Mac Pro introduced in early 2008 or later
Xserve models introduced in early 2009
To find your Mac model, memory, storage space, and macOS version, choose About This Mac from the Apple menu . If your Mac isn't compatible with OS X El Capitan, the installer will let you know.
Make a backup
Before installing any upgrade, it’s a good idea to back up your Mac. Time Machine makes it simple, and other backup methods are also available. Learn how to back up your Mac.
Get connected
It takes time to download and install OS X, so make sure that you have a reliable Internet connection. If you're using a Mac notebook computer, plug it into AC power.
Download OS X El Capitan
For the strongest security and latest features, find out whether you can upgrade to macOS Catalina, the latest version of macOS.
If you still need OS X El Capitan, use this link: Download OS X El Capitan. A file named InstallMacOSX.dmg will download to your Mac.
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Install the macOS installer
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Double-click the downloaded file to open a window showing its contents. Then double-click the file within, named InstallMacOSX.pkg.
Follow the onscreen instructions, which will guide you through the steps necessary to install.
Begin installation
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After installation of the installer is complete, open the Applications folder on your Mac, then double-click the file named Install OS X El Capitan.
Click Continue and follow the onscreen instructions. You might find it easiest to begin installation in the evening so that it can complete overnight, if needed.
Allow installation to complete
Please allow installation to complete without putting your Mac to sleep or closing its lid. Your Mac might restart, show a progress bar, or show a blank screen several times as it installs both OS X and related updates to your Mac firmware.
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- OS X El Capitan won't install on top of a later version of macOS, but you can erase your disk first or install on another disk.
- You can use macOS Recovery to reinstall macOS.