Mac OS X Installation Instructions (10.6 or later)
Contents
SVN Based Install (download-and-compile)
Pre Install
Install Apple's Developer Tools: http://developer.apple.com/Tools
Install MacPorts http://www.macports.org/install.php
ROS uses Python 2.6 ("py26").
sudo port -v selfupdate sudo port install wget cmake python_select subversion mercurial py26-yaml libyaml sudo port select --set python python26
ROS on OS X uses MacPorts, which requires additional environment setup. If you haven't already configured your computer to use MacPorts libraries, add the following to your .bashrc:
export CPATH=/opt/local/include export LIBRARY_PATH=/opt/local/lib export DYLD_FALLBACK_LIBRARY_PATH=$DYLD_FALLBACK_LIBRARY_PATH:/opt/local/lib export PATH=/opt/local/bin:$PATH # To ensure that MacPorts pkg-config can find stuff that rosdep installs in /usr export PKG_CONFIG_PATH=/usr/lib/pkgconfig
You may need to run easy_install to install libyaml:
sudo easy_install -U pyyaml
If your .profile doesn't already source .bashrc, you'll also need to do that:
echo 'source .bashrc' >> .profile
NOTE: Check symbolic links (e.g. using which and ls -la) for python and easy_install to make sure they link to the correct version (/opt/local/bin not /usr/...).
If easy_install is not in /opt/local/bin, you will need to install python-setuptools: sudo port install py26-setuptools
You may need to add this symbolic link in /opt/local/bin: sudo ln -fsv /opt/local/bin/easy_install-2.6 easy_install
rosinstall
The following lines will download the ROS source code using the rosinstall tool, and bootstrap the installation. The installation downloads all ROS stacks in subdirectories inside the ~/ros directory, one subdirectory for each stack in the rosinstall file.
First install rosinstall:
sudo easy_install -U rosinstall
There are many different libraries and tools in ROS. We provided four default configurations to get you started.
Desktop-Full Install: (Recommended): ROS Full, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception
rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=diamondback&variant=desktop-full&overlay=no"
Desktop Install: : ROS Full, rviz, and robot-generic libraries
rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=diamondback&variant=desktop&overlay=no"
ROS-Full: ROS package, build, communication, and graphical tools.
rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=diamondback&variant=ros-full&overlay=no"
ROS-Base: (Bare Bones) ROS package, build, and communication libraries.
rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=diamondback&variant=ros-base&overlay=no"
NOTE: the instructions above download all stacks inside the ~/ros folder. If you prefer a different location, simply change the ~/ros in the commands above.
Please reference REP 108 for description of other available configurations.
Environment Setup
You'll now need to update your environment. You can do this by typing:
source ~/ros/setup.bash
It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched, which you can do with the command below:
echo "source ~/ros/setup.bash" >> ~/.bashrc . ~/.bashrc
For Zsh users, change the last line of ~/ros/setup.zsh to
source $ROS_ROOT/tools/rosbash/roszsh
before running source ~/ros/setup.zsh Similarly, have the setup script called at the start of each new shell session with
echo "source ~/ros/setup.zsh" >> ~/.zshrc . ~/.zshrc
Troubleshooting
For Mac OS X, you may need to create these symbolic links:
sudo ln -sv /opt/local/Library/Frameworks/Python.framework/Versions/2.6/bin/rosinstall rosinstall sudo ln -sv /opt/local/Library/Frameworks/Python.framework/Versions/2.6/bin/roslocate roslocate
For Mac OS X, if you see this error when building rosrecord:
Linking CXX executable ../bin/rosplay Undefined symbols: "boost::filesystem3::path::extension() const", referenced from: ros::record::Player::open(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time, bool)in rosplay.o "boost::filesystem3::path::wchar_t_codecvt_facet()", referenced from: ros::record::Player::open(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time, bool)in rosplay.o ld: symbol(s) not found
You will need to edit ~/ros/ros_comm/tools/rosrecord/CMakeLists.txt. Change line 22 from:
rosbuild_link_boost(rosplay iostreams system)
to:
rosbuild_link_boost(rosplay iostreams system filesystem)
and re-run the above rosinstall configuration.
