Thomas Antony thomasantony

Installing ROS Kinetic on Mac OS X - El Capitan and macOS Sierra

Having rather painlessly installed ROS Indigo on El Capitan using Mike Purvis's script, I attempted to upgrade to ROS Kinetic. This gist outlines the problems I encoutered and how I solved them. Hopefully this guide will help others attempting to install ROS Kinetic / Gazebo 7 on El Capitan.

ROS Install OSX

Start with Mike Purvis's script, which currently is setup to install ROS Indigo. In order to install Kinetic instead of Indigo, make sure to set the ROS_DISTRO environment variable: export ROS_DISTRO=kinetic.

After you get through rosdep errors, it's quickest to just work with the catkin config ... and catkin build ... commands directly. In fact, I found it most helpful to leave my catkin workspace terminal open at ros-install-osx/kinetic_desktop_full_ws and t

	The Mosquitto Pub CLI
	$> mosquitto_pub --cert thing-0.pem --key thing-0.prv --cafile aws-iot-rootCA.crt -h XXXXXXXXYYYYY.iot.us-west-2.amazonaws.com -p 8883 -t 'test/thing' -m "Hello from Mosquitto"

	The Mosquitto Sub CLI
	$ mosquitto_sub --cert thing-0.pem --key thing-0.prv --cafile aws-iot-rootCA.crt -h XXXXXXXXYYYYY.iot.us-west-2.amazonaws.com -p 8883 -t 'test/+'

	def crc16(data: bytes, poly=0x8408):
	'''
	CRC-16-CCITT Algorithm
	'''
	data = bytearray(data)
	crc = 0xFFFF
	for b in data:
	cur_byte = 0xFF & b
	for _ in range(0, 8):
	if (crc & 0x0001) ^ (cur_byte & 0x0001):

	"""
	MIT License

	Copyright (c) 2016 Pipat Methavanitpong

	Permission is hereby granted, free of charge, to any person obtaining a copy
	of this software and associated documentation files (the "Software"), to deal
	in the Software without restriction, including without limitation the rights
	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
	copies of the Software, and to permit persons to whom the Software is

	brew install ffmpeg --with-fdk-aac --with-ffplay --with-freetype --with-libass --with-libquvi --with-libvorbis --with-libvpx --with-opus --with-x265

	# Streaming with FFMPEG
	# https://trac.ffmpeg.org/wiki/StreamingGuide

	ffmpeg -f avfoundation -i "1:0" -c:v libx265 -preset fast -c:a libfdk_aac -b:a 160k test.mkv

	# 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.

	"""How to gzip a string.

	This works for Python 3.2. For 3.1-, look at the original gist (under "Revisions")
	"""
	import gzip

	def gzip_str(string_: str) -> bytes:
	return gzip.compress(string_.encode())

	#!/usr/bin/env python2
	# Copyright (c) 2015-2016, NVIDIA CORPORATION. All rights reserved.

	"""
	Classify an image using individual model files

	Use this script as an example to build your own tool
	"""

	import argparse

	# Based on
	# https://gist.github.com/lukeyeager/777087991419d98700054cade2f755e6
	#--------------------------------------------------------------------
	# CarDetection runs Detectnet on a video pipeline (TX1 Tested)

	# This might be run only once if no ffmpeg is installed
	#import imageio
	#imageio.plugins.ffmpeg.download()

	import cv2

	#!/bin/bash

	#install dependencies
	sudo add-apt-repository ppa:webupd8team/java
	sudo apt-get update
	sudo apt-get install oracle-java8-installer -y
	sudo apt-get install zip unzip autoconf automake libtool curl zlib1g-dev maven -y
	sudo apt install python3-numpy python3-dev python3-pip python3-wheel

	# install bazel