jmtatsch · March 15, 2017 13:00 · ffurrer · Sep 8, 2015 · jmtatsch · Oct 11, 2015
diff --git a/setup.sh b/setup.sh
 # NOTE: These instructions do not represent a robust, self-troubleshooting install; they
 # are definitely not suitable for dumping to a giant script and running as one. If you 
 # use them, they should be run one at a time, with an eye out for errors or problems
 # along the way.
 #
 # The #1 issue you are likely to encounter is with Homebrew or Python packages whose
 # binary components link against system Python. This will result in runtime segfaults,
 # especially in rviz. If you suspect this is occurring, you can attempt to remove and
 # reinstall the offending packages, or go for the nuclear option--- empty your Cellar
 # and site-packages folders and start over with brewed python from the beginning.

 # !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
 # If a cleanup is necessary, proceed with extreme caution!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
 # !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

 # Remove old ROS installations, don't do this tutorial if you have several versions of ros installed
 sudo rm -rf /opt/ros
 rm -rf ~/ros_catkin_ws
 sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

 # Clean up all python packages
 sudo rm -rf /Library/Python/2.7/site-packages

 # Uninstall homebrew, warning this will cause trouble for anything linked against older hombrewed libraries
 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
 rm -rf /usr/local/Library/Taps

 # Comment everything related to ROS in your .bashrc/.zshrc
 nano .zshrc

 # 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

 # Install Homebrew
 ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
 brew doctor

 # Install zshell, if you want to use bash instead, you should change the sourced files from .zsh to .bash
 brew install zsh
 echo export PATH='/usr/local/bin:$PATH' >> ~/.zshrc
 source .zshrc

 # Install brewed python
 brew install python
 mkdir -p ~/Library/Python/2.7/lib/python/site-packages
 echo "$(brew --prefix)/lib/python2.7/site-packages" >> ~/Library/Python/2.7/lib/python/site-packages/homebrew.pth

 # Homebrew taps for prerequisites
 brew tap ros/deps
 brew tap osrf/simulation
 brew tap homebrew/versions
 brew tap homebrew/science
 brew tap homebrew/dupes
 brew tap dartsim/dart

 # Prerequisites
 brew install cmake libyaml lz4 theora
 brew install boost --with-python --c++11
 brew install opencv --with-qt --with-eigen --with-tbb
 brew install homebrew/science/pcl --HEAD --without-apps --without-qt #https://github.com/Homebrew/homebrew-science/issues/2593
 #brew install opencv3 --with-qt --with-eigen --with-tbb
 brew install fltk --devel

 # Install the ROS infrastructure tools, you may have to run this several times until all python deps are properly installed
 sudo -H pip install -U setuptools rosdep rosinstall_generator wstool rosinstall catkin_tools catkin_pkg bloom empy sphinx

 # Download ROS sources
 mkdir ros_catkin_ws && cd ros_catkin_ws
 rosinstall_generator desktop_full --rosdistro jade --deps --tar > jade.rosinstall
 wstool init -j8 src jade.rosinstall

 # Install the necessary ROS dependencies
 sudo rosdep init
 rosdep update
 rosdep install --from-paths src --ignore-src --rosdistro jade -y

 # fix pcl_ros according to https://github.com/ros-perception/perception_pcl/issues/106#issuecomment-134948296

 if [ -d src/perception_pcl/pcl_ros ]; then
 sed -i -e 's/find_package(Eigen3 REQUIRED)/find_package(PkgConfig)\
 pkg_search_module(Eigen3 REQUIRED eigen3)/g' src/perception_pcl/pcl_ros/CMakeLists.txt
 fi

 # fix Ogre 1.74 according to mike
 # Grabbing these older meshes allows rviz to run with Ogre 1.7 rather than Ogre 1.8+. Although formulae and patches
 # exist to build Ogre 1.9, rviz, and Gazebo together, I have found this approach to be the most solid and consistent.
 if [ -d src/rviz ]; then
  pushd src/rviz/ogre_media/models
  curl https://raw.githubusercontent.com/ros-visualization/rviz/hydro-devel/ogre_media/models/rviz_cone.mesh > rviz_cone.mesh
  curl https://raw.githubusercontent.com/ros-visualization/rviz/hydro-devel/ogre_media/models/rviz_cube.mesh > rviz_cube.mesh
  curl https://raw.githubusercontent.com/ros-visualization/rviz/hydro-devel/ogre_media/models/rviz_cylinder.mesh > rviz_cylinder.mesh
  curl https://raw.githubusercontent.com/ros-visualization/rviz/hydro-devel/ogre_media/models/rviz_sphere.mesh > rviz_sphere.mesh
  popd
 fi

 # Build in parallel with catkin ~40 min on my computer, make sure the python version matches
 sudo mkdir -p /opt/ros/jade
 sudo chown $USER /opt/ros/jade
 catkin config --install  --install-space /opt/ros/jade
 catkin build \
  -DCMAKE_BUILD_TYPE=Release \
  -DPYTHON_LIBRARY=/usr/local/Cellar/python/2.7.11/Frameworks/Python.framework/Versions/2.7/lib/libpython2.7.dylib \
  -DPYTHON_INCLUDE_DIR=/usr/local/Cellar/python/2.7.11/Frameworks/Python.framework/Versions/2.7/include/python2.7


 # to work around the dyld issue https://github.com/mikepurvis/ros-install-osx/issues/12#issuecomment-149336634
 # well this patch doesnt work yet but you get the idea
 sed -i 's/#!/usr/bin/env bash/export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:/opt/ros/jade/lib/g' /opt/ros/jade/bin/rosrun

 # Source the build ROS, prepare the workspace and from then on only source this one
 source /opt/ros/jade/setup.zsh
 cd ~/ros_catkin_ws
 mv src src_isolated
 mv devel devel_isolated
 mv build build_isolated
 mkdir src
 catkin_make
 echo 'source ~/ros_catkin_ws/devel/setup.zsh' >> ~/.zshrc
	# NOTE: These instructions do not represent a robust, self-troubleshooting install; they
	# are definitely not suitable for dumping to a giant script and running as one. If you
	# use them, they should be run one at a time, with an eye out for errors or problems
	# along the way.
	#
	# The #1 issue you are likely to encounter is with Homebrew or Python packages whose
	# binary components link against system Python. This will result in runtime segfaults,
	# especially in rviz. If you suspect this is occurring, you can attempt to remove and
	# reinstall the offending packages, or go for the nuclear option--- empty your Cellar
	# and site-packages folders and start over with brewed python from the beginning.

	# !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
	# If a cleanup is necessary, proceed with extreme caution!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
	# !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

	# Remove old ROS installations, don't do this tutorial if you have several versions of ros installed
	sudo rm -rf /opt/ros
	rm -rf ~/ros_catkin_ws
	sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

	# Clean up all python packages
	sudo rm -rf /Library/Python/2.7/site-packages

	# Uninstall homebrew, warning this will cause trouble for anything linked against older hombrewed libraries
	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
	rm -rf /usr/local/Library/Taps

	# Comment everything related to ROS in your .bashrc/.zshrc
	nano .zshrc

	# 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

	# Install Homebrew
	ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
	brew doctor

	# Install zshell, if you want to use bash instead, you should change the sourced files from .zsh to .bash
	brew install zsh
	echo export PATH='/usr/local/bin:$PATH' >> ~/.zshrc
	source .zshrc

	# Install brewed python
	brew install python
	mkdir -p ~/Library/Python/2.7/lib/python/site-packages
	echo "$(brew --prefix)/lib/python2.7/site-packages" >> ~/Library/Python/2.7/lib/python/site-packages/homebrew.pth

	# Homebrew taps for prerequisites
	brew tap ros/deps
	brew tap osrf/simulation
	brew tap homebrew/versions
	brew tap homebrew/science
	brew tap homebrew/dupes
	brew tap dartsim/dart

	# Prerequisites
	brew install cmake libyaml lz4 theora
	brew install boost --with-python --c++11
	brew install opencv --with-qt --with-eigen --with-tbb
	brew install homebrew/science/pcl --HEAD --without-apps --without-qt #https://github.com/Homebrew/homebrew-science/issues/2593
	#brew install opencv3 --with-qt --with-eigen --with-tbb
	brew install fltk --devel

	# Install the ROS infrastructure tools, you may have to run this several times until all python deps are properly installed
	sudo -H pip install -U setuptools rosdep rosinstall_generator wstool rosinstall catkin_tools catkin_pkg bloom empy sphinx

	# Download ROS sources
	mkdir ros_catkin_ws && cd ros_catkin_ws
	rosinstall_generator desktop_full --rosdistro jade --deps --tar > jade.rosinstall
	wstool init -j8 src jade.rosinstall

	# Install the necessary ROS dependencies
	sudo rosdep init
	rosdep update
	rosdep install --from-paths src --ignore-src --rosdistro jade -y

	# fix pcl_ros according to https://github.com/ros-perception/perception_pcl/issues/106#issuecomment-134948296

	if [ -d src/perception_pcl/pcl_ros ]; then
	sed -i -e 's/find_package(Eigen3 REQUIRED)/find_package(PkgConfig)\
	pkg_search_module(Eigen3 REQUIRED eigen3)/g' src/perception_pcl/pcl_ros/CMakeLists.txt
	fi

	# fix Ogre 1.74 according to mike
	# Grabbing these older meshes allows rviz to run with Ogre 1.7 rather than Ogre 1.8+. Although formulae and patches
	# exist to build Ogre 1.9, rviz, and Gazebo together, I have found this approach to be the most solid and consistent.
	if [ -d src/rviz ]; then
	pushd src/rviz/ogre_media/models
	curl https://raw.githubusercontent.com/ros-visualization/rviz/hydro-devel/ogre_media/models/rviz_cone.mesh > rviz_cone.mesh
	curl https://raw.githubusercontent.com/ros-visualization/rviz/hydro-devel/ogre_media/models/rviz_cube.mesh > rviz_cube.mesh
	curl https://raw.githubusercontent.com/ros-visualization/rviz/hydro-devel/ogre_media/models/rviz_cylinder.mesh > rviz_cylinder.mesh
	curl https://raw.githubusercontent.com/ros-visualization/rviz/hydro-devel/ogre_media/models/rviz_sphere.mesh > rviz_sphere.mesh
	popd
	fi

	# Build in parallel with catkin ~40 min on my computer, make sure the python version matches
	sudo mkdir -p /opt/ros/jade
	sudo chown $USER /opt/ros/jade
	catkin config --install --install-space /opt/ros/jade
	catkin build \
	-DCMAKE_BUILD_TYPE=Release \
	-DPYTHON_LIBRARY=/usr/local/Cellar/python/2.7.11/Frameworks/Python.framework/Versions/2.7/lib/libpython2.7.dylib \
	-DPYTHON_INCLUDE_DIR=/usr/local/Cellar/python/2.7.11/Frameworks/Python.framework/Versions/2.7/include/python2.7


	# to work around the dyld issue https://github.com/mikepurvis/ros-install-osx/issues/12#issuecomment-149336634
	# well this patch doesnt work yet but you get the idea
	sed -i 's/#!/usr/bin/env bash/export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:/opt/ros/jade/lib/g' /opt/ros/jade/bin/rosrun

	# Source the build ROS, prepare the workspace and from then on only source this one
	source /opt/ros/jade/setup.zsh
	cd ~/ros_catkin_ws
	mv src src_isolated
	mv devel devel_isolated
	mv build build_isolated
	mkdir src
	catkin_make
	echo 'source ~/ros_catkin_ws/devel/setup.zsh' >> ~/.zshrc