Mac OS X Installation Instructions (10.6 or later)

SVN Based Install (download-and-compile)

Pre Install

1. Install Apple's Developer Tools: http://developer.apple.com/technologies/tools/

2. 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

Install Git

• sudo port install git-core +svn+bash_completion

If your .profile doesn't already source .bashrc, you'll also need to do that:

• echo 'source ~/.bashrc' >> ~/.profile

Install bash completion:

• cp /opt/local/etc/bash_completion.d/git ~/.git-bash-completion.sh
  echo "[ -f ~/.git-bash-completion.sh ] && . ~/.git-bash-completion.sh" >> ~/.bashrc
  . ~/.bashrc

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

You need C++ boost library with a version between 1.41 and 1.47. May you have it installed earlier, then you can enter (with your version):

• port installed boost
  sudo port deactivate boost
  sudo port activate boost @1.47.0_2

If you have not one of that versions, you have to install it by yourself:

• 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 ..
  rm -rf boost_1_47_0_2

Install other packages

sudo port install pkgconfig eigen

You may need to run easy_install to install libyaml:

sudo easy_install -U pyyaml

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-distribute:

sudo port install py26-distribute

You may need to add this symbolic link in /opt/local/bin:

sudo ln -fsv /opt/local/bin/easy_install-2.6 easy_install

python-svn issue: python-svn is a pre-requisite, but it must currently be installed from source. Please see http://answers.ros.org/question/28124/os-x-installation-error

Tell rosinstall, that we are planning to install using MacPorts:

export ROS_OS_OVERRIDE=osx:macports

source ~/ros/setup.bash

echo "source ~/ros/setup.bash" >> ~/.bashrc
. ~/.bashrc

source $ROS_ROOT/tools/rosbash/roszsh

echo "source ~/ros/setup.zsh" >> ~/.zshrc
. ~/.zshrc

Troubleshooting

symbolic links

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

CMake

If you get the following error:

  cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake  ..
  CMake Error at /opt/local/share/cmake-2.8/Modules/Platform/Darwin.cmake:141 (message):
    CMAKE_OSX_DEPLOYMENT_TARGET (10.6) is greater than CMAKE_OSX_SYSROOT SDK
    (/Developer/SDKs/MacOSX10.5.sdk).  Please set CMAKE_OSX_DEPLOYMENT_TARGET
    to 10.5 or lower

run this as a fix:

 echo "set(CMAKE_OSX_DEPLOYMENT_TARGET 10.5)" >> `rospack find rosbuild`/rostoolchain.cmake