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This page describes how to install ROS Melodic on macOS. macOS is not officially supported by ROS and the installation might fail.

This is a work in progress! At present, the instructions cover only the installation of ROS-Comm (Bare Bones) variant and tested on the following configuration:

• - macOS Mojave + native (Apple) Python 2.7.10 + XCode 11.2.1

Contents

1. Installation Instructions for Melodic in macOS (OS X)
   1. Setup
   2. Installation
   3. Maintaining a Source Checkout
   4. Troubleshooting

Setup

Homebrew

First, go to http://brew.sh to install homebrew and install some additional software:

Add our ROS dependencies tap and the Homebrew Core tap so you can get some non-standard formulae:

Note: if you are upgrading from previous ROS distro try this before installing:

In general it is not recommended to try and install multiple ROS versions at the same time on macOS due to conflicting system dependencies.

Setup Environment

You will need to tell Python about modules installed by Homebrew. The recommended way of doing this are the following commands:

Additional Tools

Finally, we need to install a few ROS python tools using 'pip'.

Install the following packages using 'pip':

Initializing rosdep

Installation

Start by building the core ROS packages.

Create a catkin Workspace

In order to build the core packages, you will need a catkin workspace. Create one now:

Next we will want to fetch the core packages so we can build them. We will use vcstool for this. Select the vcstool command for the particular variant you want to install:

Desktop-Full Install: ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

Desktop Install (recommended): ROS, rqt, rviz, and robot-generic libraries

ROS-Comm: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

This will add all of the catkin packages in the given variant and then fetch the sources into the ~/ros_catkin_ws/src directory. The command will take a few minutes to download all of the core ROS packages into the src folder. The -j8 option downloads 8 packages in parallel.

In addition to the 3 variants above, more are defined in REP 131 such as robot, perception, etc. Just change the package path to the one you want, e.g., for robot do:

Modify Some CMake Config Files

Now you will modify four CMake configuration files to avoid some compile and linker issues on MacOS.

Edit the files src/ros_comm/rosbag/CMakeLists.txt and src/ros_comm/rosbag_storage/CMakeLists.txt by adding the lines below. Where you put it doesn't really matter. you can just insert them after the project('package_name') line at the top of the file.

Edit the file src/ros_comm/message_filters/CMakeLists.txt by removing the Boost.Signals package dependency. Look for the line:

and change it to:

Edit the file src/ros_comm/roscpp/CMakeLists.txt by removing the Boost.Signals package dependency. Look for the line:

and change it to:

Resolving Dependencies

Before you can build your catkin workspace you need to make sure that you have all the required dependencies. We use the rosdep tool for this:

This will look at all of the packages in the src directory and find all of the dependencies they have. Then it will recursively install the dependencies.

The --from-paths option indicates we want to install the dependencies for an entire directory of packages, in this case src. The --ignore-src option indicates to rosdep that it shouldn't try to install any ROS packages in the src folder from the package manager, we don't need it to since we are building them ourselves. The --rosdistro option is required because we don't have a ROS environment setup yet, so we have to indicate to rosdep what version of ROS we are building for. The -y option indicates to rosdep that we don't want to be bothered by too many prompts from the package manager. The --skip-keys option suppresses some dependency error messages.

After a while (and maybe some prompts for your password) rosdep will finish installing system dependencies and you can continue.

Note: After running rosdep you will see the error below, so you may encounter issues when running roslisp or rosbag. (would be great if someone can test) .

Building the catkin Workspace

Once it has completed downloading the packages and resolving the dependencies you are ready to build the catkin packages. We will use the catkin_make_isolated command because there are both catkin and plain cmake packages in the base install, when developing on your catkin only workspaces you may choose to use catkin/commands/catkin_make which only works with catkin packages.

Invoke catkin_make_isolated:

Note: The -DCMAKE_MACOSX_RPATH and -DCMAKE_INSTALL_RPATH flags are mandatory. They are needed by roscore (and other programs) to find the *.dylib libraries at runtime.

Hell is other people mac os. Note: The default catkin installation location would be ~/ros_catkin_ws/install_isolated, if you would like to install somewhere else then you can do this by adding the --install-space /opt/ros/melodic argument to your catkin_make_isolated call.

For usage on a robot without Ubuntu, it is recommended to install compiled code into /opt/ros/melodic just as the Ubuntu packages would do. Don't do this in Ubuntu, as the packages would collide with apt-get packages. It is also possible to install elsewhere (e.g. /usr), but it is not recommended unless you really know what you are doing.

Please see REP 122: Filesystem Hierarchy Layout for more detailed documentation on how the installed files are placed.

Note: In the above command we are running the catkin_make_isolated command from the catkin source folder because it has not been installed yet, once installed it can be called directly.

Now the packages should have been installed to ~/ros_catkin_ws/install_isolated or to wherever you specified with the --install-space argument. If you look in that directory you will see that a setup.bash file have been generated. To utilize the things installed there simply source that file like so:

Maintaining a Source Checkout

If we want to keep our source checkout up to date, we will have to periodically update our rosinstall file, download the latest sources, and rebuild our workspace.

Update the workspace

To update your workspace, first move your existing rosinstall file so that it doesn't get overwritten, and generate an updated version. For simplicity, we will cover the *destop-full* variant. For other variants, update the filenames and rosinstall_generator arguments appropriately.

Then, compare the new rosinstall file to the old version to see which packages will be updated:

If you're satisfied with these changes, incorporate the new rosinstall file into the workspace and update your workspace:

Rebuild your workspace

Now that the workspace is up to date with the latest sources, rebuild it:

If you specified the --install-space option when your workspace initially, you should specify it again when rebuilding your workspace

Once your workspace has been rebuilt, you should source the setup files again:

Troubleshooting

Free to add any tips or workarounds found for installing Melodic on macOS. Troubleshooting from previous releases of ROS are located here:

• http://wiki.ros.org/kinetic/Installation/OSX/Homebrew/Source#Troubleshooting

'No definition of [google-mock] for OS [osx]' error during rosdep install

Add --skip-keys google-mock to rosdep install

empy fails

‘ImportError: No module named Crypto'

DYLD_LIBRARY_PATH Problems

Rerun catkin_make_isolated with the CMAKE_MACOSX_RPATH and CMAKE_INSTALL_RPATH flags.

Upgrade to macOS Big Sur

Before installing this upgrade, make sure that your Mac is ready.

Check compatibility

macOS Big Sur supports most Mac models introduced in 2013 and later.

Make a backup

Before you upgrade, make a complete backup with Time Machine, or store your files in iCloud.

Glorbz Mac Os X

Free up space

If the installer needs more storage space to upgrade, you can free up space using tools that come with your Mac.

Download macOS Big Sur

If you're using macOS Mojave or later, choose Apple menu  > System Preferences, then click Software Update. If you're using an earlier macOS, use the App Store instead.

Get to know macOS Big Sur

Learn about some of the new features of macOS Big Sur.

Control Center

Control Center brings favorite controls such as Bluetooth, Wi-Fi, Do Not Disturb, and Sound together in a single place—so you can easily adjust them at any time.

Notification Center

Notification Center puts notifications and>

Safari

Customize your start page, navigate with ease using the new tab bar, and access a new privacy report to see just how Safari protects your privacy as you browse.

Hell is other people mac os. Note: The default catkin installation location would be ~/ros_catkin_ws/install_isolated, if you would like to install somewhere else then you can do this by adding the --install-space /opt/ros/melodic argument to your catkin_make_isolated call.

For usage on a robot without Ubuntu, it is recommended to install compiled code into /opt/ros/melodic just as the Ubuntu packages would do. Don't do this in Ubuntu, as the packages would collide with apt-get packages. It is also possible to install elsewhere (e.g. /usr), but it is not recommended unless you really know what you are doing.

Please see REP 122: Filesystem Hierarchy Layout for more detailed documentation on how the installed files are placed.

Note: In the above command we are running the catkin_make_isolated command from the catkin source folder because it has not been installed yet, once installed it can be called directly.

Now the packages should have been installed to ~/ros_catkin_ws/install_isolated or to wherever you specified with the --install-space argument. If you look in that directory you will see that a setup.bash file have been generated. To utilize the things installed there simply source that file like so:

Maintaining a Source Checkout

If we want to keep our source checkout up to date, we will have to periodically update our rosinstall file, download the latest sources, and rebuild our workspace.

Update the workspace

To update your workspace, first move your existing rosinstall file so that it doesn't get overwritten, and generate an updated version. For simplicity, we will cover the *destop-full* variant. For other variants, update the filenames and rosinstall_generator arguments appropriately.

Then, compare the new rosinstall file to the old version to see which packages will be updated:

If you're satisfied with these changes, incorporate the new rosinstall file into the workspace and update your workspace:

Rebuild your workspace

Now that the workspace is up to date with the latest sources, rebuild it:

If you specified the --install-space option when your workspace initially, you should specify it again when rebuilding your workspace

Once your workspace has been rebuilt, you should source the setup files again:

Troubleshooting

Free to add any tips or workarounds found for installing Melodic on macOS. Troubleshooting from previous releases of ROS are located here:

• http://wiki.ros.org/kinetic/Installation/OSX/Homebrew/Source#Troubleshooting

'No definition of [google-mock] for OS [osx]' error during rosdep install

Add --skip-keys google-mock to rosdep install

empy fails

‘ImportError: No module named Crypto'

DYLD_LIBRARY_PATH Problems

Rerun catkin_make_isolated with the CMAKE_MACOSX_RPATH and CMAKE_INSTALL_RPATH flags.

Upgrade to macOS Big Sur

Before installing this upgrade, make sure that your Mac is ready.

Check compatibility

macOS Big Sur supports most Mac models introduced in 2013 and later.

Make a backup

Before you upgrade, make a complete backup with Time Machine, or store your files in iCloud.

Glorbz Mac Os X

Free up space

If the installer needs more storage space to upgrade, you can free up space using tools that come with your Mac.

Download macOS Big Sur

If you're using macOS Mojave or later, choose Apple menu  > System Preferences, then click Software Update. If you're using an earlier macOS, use the App Store instead.

Get to know macOS Big Sur

Learn about some of the new features of macOS Big Sur.

Control Center

Control Center brings favorite controls such as Bluetooth, Wi-Fi, Do Not Disturb, and Sound together in a single place—so you can easily adjust them at any time.

Notification Center

Notification Center puts notifications and>

Safari

Customize your start page, navigate with ease using the new tab bar, and access a new privacy report to see just how Safari protects your privacy as you browse.

Maps

Discover great places around the world and navigate easier with guides, cycling directions, indoor maps, Look Around, electric vehicle routing, and more.

Messages

Send messages to friends and family using new tools that make it easier to keep track of group conversations and give you fun, engaging ways to express yourself.

Photos

Use the expanded editing capabilities in Photos to easily make simple changes and more advanced adjustments to your photos.

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