Installation Instructions for Groovy in OSX
This page describes how to install Groovy in OSX. OSX is not officially supported by ROS and the installation might fail for several reasons. This page does not (yet) contain instructions for most higher level ROS packages, only for the base system. This includes the middleware and command line tools but not much more.
Warning: The below instructions are outdated and possibly broken. Please try the new MacPorts repository.
Install Apple's Developer Tools (Xcode 4). After starting Xcode select "Preferences" (⌘,) >> "Downloads". In "Components" you will find Command Line Tools.
Next use MacPorts to install additional software.
sudo port selfupdate sudo port install cmake libyaml yaml-cpp tinyxml pkgconfig log4cxx eigen subversion git-core mercurial google-test qt4-mac py27-six bzr
We need a specific Version of boost (1.41 to 1.47).
cd /Users/shared svn co -r 85591 http://svn.macports.org/repository/macports/trunk/dports/devel/boost boost_1_47_0_2 cd boost_1_47_0_2 sudo chown -R macports:macports Portfile files sudo port install cd .. sudo rm -rf boost_1_47_0_2
You will need to add these lines to your ~/.profile (global) or ~/.bashrc (after running bash).
export CPATH=/opt/local/include export LIBRARY_PATH=/opt/local/lib export ROS_OS_OVERRIDE=osx:macports
In order for the above changes to take effect reopen the terminal or run this command:
Finally, we need to install a few ROS python tools using pip:
sudo easy_install pip sudo pip install -U pyyaml empy rospkg rosdep rosinstall catkin-pkg wstool
In order to use rosdep, we need to initialize it:
sudo rosdep init rosdep update
Building ROS Base
First, check out all ROS base packages:
wstool init -j8 ~/groovy_underlay http://packages.ros.org/web/rosinstall/generate/raw/groovy/ros_comm
We need to link catkin's toplevel cmake file:
cd ~/groovy_underlay ln -s catkin/cmake/toplevel.cmake CMakeLists.txt
Now it's time for configuring the build:
mkdir build cd build cmake .. -DCMAKE_INSTALL_PREFIX=/opt/ros/groovy -DSETUPTOOLS_DEB_LAYOUT=OFF
The configure should not throw an error. After running it, we can finally build and install ROS:
make -j8 sudo make install
This will install everything in /opt/ros/groovy. To use our freshly built ROS installation, we need to source its setup file:
Now a quick check to make sure all is working
which roscore /opt/ros/groovy/bin/roscore
Build Higher Level ROS Libraries