いつもはUbuntuだけど、macでもROS2にもインストールできるそうなんで、手持ちのMacbookAirにインストールしてみる。
公式ドキュメント
https://index.ros.org/doc/ros2/Installation/Dashing/OSX-Install-Binary/
まずはbrewで必要な物をインストール
brew install asio tinyxml2 brew install tinyxml eigen pcre poco brew install opencv brew install openssl echo "export OPENSSL_ROOT_DIR=$(brew --prefix openssl)" >> ~/.bashrc brew install qt freetype assimp brew install log4cxx brew install cunit brew install pyqt5 ln -s /usr/local/share/sip/Qt5 /usr/local/share/sip/PyQt5 brew install graphviz
次にPythonのモジュールを入れる。
virtualEnvでROS2用に環境を作る。
mba:pyenv dp$ virtualenv ros@3.7.0 mba:pyenv dp$ source ros\@3.7.0/bin/activate (ros@3.7.0) mba:pyenv dp$ pip install pygraphviz pydot lxml catkin_pkg empy lark-parser pyparsing pyyaml setuptools argcomplete
Macの場合、SIP(System Integrity Protection)の無効化をしないと親子プロセスで変数の継承ができないらしいので、OFFにしようと思ったら
$ csrutil status System Integrity Protection status: disabled.
ＳＩＰがdisabledになってる。
Macのログイン画面の背景変更の時かな？
OFFだったので、スルーする。
ROS2のダウンロード
https://github.com/ros2/ros2/releases
mba:pyenv dp$ mkdir -p ~/ros2_crystal mba:pyenv dp$ cd ~/ros2_crystal mba:pyenv dp$ wget https://github.com/ros2/ros2/releases/download/release-dashing-20191018/ros2-dashing-20191018-macos-amd64.tar.bz2 mba:pyenv dp$ tar xf ros2-dashing-20191018-macos-amd64.tar.bz2 mba:pyenv dp$ . ~/ros2_crystal/ros2-osx/setup.bash
ROS2インストール完了したはずなので
デモを起動したら、エラー。。。
mba:pyenv dp$ ros2 run mba:pyenv dp$ demo_nodes_cpp talker Failed to load entry point 'delete': dlopen(/Users/dp/ros2_crystal/ros2-osx/lib/python3.7/site-packages/rclpy/_rclpy.cpython-37m-darwin.so, 2): Library not loaded: /usr/local/opt/tinyxml2/lib/libtinyxml2.7.dylib Referenced from: /Users/dp/ros2_crystal/ros2-osx/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_c.dylib Reason: image not found The C extension '/Users/dp/ros2_crystal/ros2-osx/lib/python3.7/site-packages/rclpy/_rclpy.cpython-37m-darwin.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions Failed to load entry point 'info': dlopen(/Users/dp/ros2_crystal/ros2-osx/lib/python3.7/site-packages/rosbag2_transport/_rosbag2_transport_py.cpython-37m-darwin.so, 2): Library not loaded: /usr/local/opt/poco/lib/libPocoFoundation.63.dylib Referenced from: /Users/dp/ros2_crystal/ros2-osx/lib/python3.7/site-packages/rosbag2_transport/_rosbag2_transport_py.cpython-37m-darwin.so Reason: image not found The C extension '/Users/dp/ros2_crystal/ros2-osx/lib/python3.7/site-packages/rclpy/_rclpy.cpython-37m-darwin.so' failed to be imported while being present on the system. Please refer to 'https://index.ros.org/doc/ros2/Troubleshooting/#import-failing-even-with-library-present-on-the-system' for possible solutions dyld: Library not loaded: /usr/local/opt/poco/lib/libPocoFoundation.63.dylib Referenced from: /Users/dp/ros2_crystal/ros2-osx/lib/librosidl_typesupport_c.dylib Reason: image not found
調べてみたらlibtinyxml2のバージョンに問題があるみたい。
Homebewでインストール済みのバージョンはtinyxml2(７.1.0)だけど7系は動かないとのこと
「ROS 2 fails to build against tinyxml2 7.0.0 #671」
https://github.com/ros2/ros2/issues/671
Homebewでインストール済みのtinyxml2をダウングレード
https://github.com/ros2/ros2/issues/625
brew unlink tinyxml2 brew install https://raw.githubusercontent.com/Homebrew/homebrew-core/da9a96f093a57eb8ac7c9470c1ec04fd1823a37a/Formula/tinyxml2.rb brew switch tinyxml2 6.2.0
またdylibが見つからないのはlinkを作成
$ ll /usr/local/opt/poco/lib/libPocoFoundatio* -rw-r--r-- 1 dp staff 1701096 12 19 23:12 /usr/local/opt/poco/lib/libPocoFoundation.64.dylib lrwxr-xr-x 1 dp staff 26 9 18 17:03 /usr/local/opt/poco/lib/libPocoFoundation.dylib -> libPocoFoundation.64.dylib ln -s libPocoFoundation.dylib libPocoFoundation.63.dylib $ ll /usr/local/opt/tinyxml2/lib/libtinyxm* lrwxr-xr-x 1 yuta staff 23 4 6 2018 /usr/local/opt/tinyxml2/lib/libtinyxml2.6.dylib -> libtinyxml2.6.2.0.dylib lrwxr-xr-x 1 yuta staff 19 4 6 2018 /usr/local/opt/tinyxml2/lib/libtinyxml2.dylib -> libtinyxml2.6.dylib $ cd /usr/local/opt/tinyxml2/lib/ $ ln -s libtinyxml2.6.2.0.dylib libtinyxml2.7.dylib
console_bridgeのインストールを忘れてた。
brew install console_bridge
これで対応できたと思ったけどpipモジュールが見つからないエラーが大量。。
(ros@3.7.0) mba:lib dp$ ros2 -help Failed to load entry point 'test': No module named 'yaml' Failed to load entry point 'launch': No module named 'yaml' Failed to load entry point 'send_goal': No module named 'yaml' Failed to load entry point 'list': No module named 'yaml' Failed to load entry point 'load': No module named 'yaml' Failed to load entry point 'standalone': No module named 'yaml'
これはpyenv使ってインストールした関係なので、パスを設定してからsetup.shを実行してOK
export PYTHONPATH=~/pyenv/ros\@3.7.0/lib/python3.7/site-packages/ $ which python /Users/dp/pyenv/ros@3.7.0/bin/python $. ~/ros/dashing/setup.bash
まだ自分マックはbashを使ってる。
間違えてsetup.shを実行したらエラーがでてしばらく悩んでしまった。
export PYTHONPATH=~/pyenv/ros\@3.7.0/lib/python3.7/site-packages/ $. ~/ros/dashing/setup.sh The build time path "/Users/osrf/jenkins-agent/workspace/packaging_osx/ws/install" doesn't exist. Either source a script for a different shell or set the environment variable "COLCON_CURRENT_PREFIX" explicitly.