Installing ROS Jade on Yosemite

I got as far as installing dependencies using the official instructions and the ones that Job Vranish wrote for Atomic Object Blog about a different cmake but the process got stuck at pygraphviz. It just wouldn’t install!

$ rosdep install --from-paths src --ignore-src --rosdistro jade -y

So I uninstalled everything, including cmake, using these instructions, (distilled from here):

# Remove old ROS installations
rm -rf /opt/ros // I didn't need to do this!
rm -rf ~/ros_catkin_ws
# Uninstall homebrew
brew install wget
wget https://gist.githubusercontent.com/mxcl/1173223/raw/a833ba44e7be8428d877e58640720ff43c59dbad/uninstall_homebrew.sh
bash uninstall_homebrew.sh
rm uninstall_homebrew.sh
rm -rf /usr/local/Cellar /usr/local/.git && brew cleanup
rm -rf /usr/local/Library/Taps
# Clean up all confusing python packages
sudo rm -rf /Library/Python/2.7/site-packages
sudo rm -rf $(brew --prefix)/lib/python2.7/site-packages
# Now we are ready to start fresh.
# If you haven't already, install XQuartz using the installer from its own website:
# https://xquartz.macosforge.org

The Mike Purvis Script

I’m quoting directly from Mike’s Github repo page:

This repo aims to maintain a usable, scripted, up-to-date installation procedure for ROS. The intent is that the install script may be executed on a bare Mavericks or Yosemite machine and produce a working desktop_full installation, including RQT, rviz, and Gazebo.

This is the successor to my popular gist on the same topic.

Usage

curl https://raw.githubusercontent.com/mikepurvis/ros-install-osx/master/install | bash

or

git clone https://github.com/mikepurvis/ros-install-osx.git
cd ros-install-osx
./install

Note that if you do not yet have XQuartz installed, you will be forced to log out and in after that installation, and re-run this script.

You will be prompted for your sudo password at the following points in this process:

  • Homebrew installation.
  • Caskroom installation.
  • XQuartz installation.
  • Initializing rosdep.
  • Creating and chowning your /opt/ros/[distro] folder.

The installation can be done entirely without sudo if Homebrew and XQuartz are already installed, rosdep is already installed and initialized, and you set the ROS_INSTALL_DIR environment variable to a path which already exists and you have write access to.

Using the script itself, installation of ROS halted with:

IOError: [Errno 13] Permission denied: '/usr/local/bin/rosversion'

So, I checked and confirmed that

$ which python

pointed to /usr/local/bin python

then used sudo -H to install everything and update:

$ sudo -H pip install -U setuptools rosdep rosinstall_generator wstool rosinstall catkin_tools catkin_pkg bloom empy sphinx

$ rosdep update

Then created the ~/ros_catkin_ws directory and followed the official instructions from this point onwards:

$ rosinstall_generator desktop_full --rosdistro jade --deps --wet-only --tar > jade-desktop-full-wet.rosinstall
$ wstool init -j8 src jade-desktop-full-wet.rosinstall

$ rosdep install --from-paths src --ignore-src --rosdistro jade -y

Installation got stuck at pygraphviz. Again! Solved it with this (from here):

$ pip install --install-option="--include-path=/opt/local/include" --install-option="--library-path=/opt/local/lib" pygraphviz

Then, repeated this:

rosdep install --from-paths src --ignore-src --rosdistro jade -y
...
...
# All required rosdeps installed successfully

Bingo!

Add to src/geometry/tf/CMakeLists.txt:

 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DGTEST_USE_OWN_TR1_TUPLE=1")

Then we can proceed with building the catkin workspace:

./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

Terminal window gets busy cracking on the building process…then stops with this error:

Package 'yaml-cpp' not found
CMake Error at CMakeLists.txt:26 (if):
  if given arguments:
    "VERSION_GREATER" "0.5"
  Unknown arguments specified
-- Configuring incomplete, errors occurred!

So I unlinked ogre1.7 and did:

brew tap nikolausdemmel/simulation
brew install ogre1.9

 

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