Ros For Mac
Because ROS Indigo requires Qt4 and because Homebrew (the macOS package manager) no longer provides formula for Qt4, it is highly recommended to use ROS Kinetic (which uses Qt5) as a starting point on macOS:
By running Ubuntu in a Parallels VM. If you want a native install, follow the instructions on the ROS.org website. Last I checked the homebrew install was more mature than macports.
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This page describes how to install Indigo in OSX. OSX is not officially supported by ROS and the installation might fail for several reasons.
Contents
- Installation Instructions for Indigo in OSX
- Setup
- Setup Environment
- Installation
- Building the catkin Packages
- Maintaining a Source Checkout
- Setup
Setup
Homebrew
First, go to http://brew.sh to install homebrew.
Next use homebrew to install additional software.
And also add our ROS Indigo tap and the Homebrew science tap so you can get some non-standard formulae:
Note: if you are upgrading from previous ROS distro try:
Note: It is recommended to use the system python rather than homebrewed python because of problems with segmentation faults. http://answers.ros.org/question/108431/import-tf-segfaults-python-on-os-x-109-with-brewed-python/
Setup Environment
You will need to add these line to your ~/.bashrc or ~/.bash_profile to have Homebrew be at the front of the PATH.
In order for the above changes to take effect reopen the terminal or run this command:
Setup Environment for Python
You also need to tell python about modules installed by homebrew. The recommended way of doing this are the following commands:
Note: Earlier versions of homebrew required you to additionally add /usr/local/share/python to your PATH, so the added line in your .bashrc might look like this:
This is no longer needed.
Note: Previously, it was suggested to set PYTHONPATH as such:
This is problematic, because PYTHONPATH does not distinguish between different python version. The recommended way is creating a .pth file in the user site-packages as outlined above.
Additional Tools
Finally, we need to install a few ROS python tools using pip.
On OS 10.12 (Sierra), and possibly some older versions, there can be a lot of conflicts with the system python's packages and directories. You might consider using Homebrew's python instead:
On OS 10.9 (Mavericks) If pip is installed, check the version installed. If it is not 1.2.1, you will have to delete pip manually and install pip 1.2.1 after deleting:
On OS 10.9 (Mavericks) you might need to install a new version of setuptools before you can install rosinstall_generator:
Install the following packages using pip:
In order to use rosdep, we need to initialize it:
Installation
Start by building the core ROS packages. Cricut design space for mac.
Building the catkin Packages
ROS is in the process of converting to a new build system, catkin, but not all of the packages have been converted and the two build systems cannot be used simultaneously. Therefore it is necessary to build the core ROS packages first (catkin packages) and then the rest.
Create a catkin Workspace
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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 wstool for this. Select the wstool 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 or wet 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:
If wstool init fails or is interrupted, you can resume the download by running:
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. Finally, the -y option indicates to rosdep that we don't want to be bothered by too many prompts from the package manager.
After a while (and maybe some prompts for your password) rosdep will finish installing system dependencies and you can continue.
If you installed something from source or from pip and don't want rosdep to try to install it for you use the --skip-keys option. For example if you installed the bootstrap tools such as rosdep, rospkg, and rosinstall_generator from source add the arguments --skip-keys python-rosdep --skip-keys python-rospkg --skip-keys python-catkin-pkg
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 should use catkin/commands/catkin_make.
Invoke catkin_make_isolated:
Note: You might want to select a different CMake build type (e.g. RelWithDebInfo or Debug, see http://cmake.org/cmake/help/v2.8.12/cmake.html#variable:CMAKE_BUILD_TYPE).
Note: The default catkin installation location would be ~/ros_catkin_ws/install_isolated, if you would like to install some where else then you can do this by adding the --install-space /opt/ros/indigo argument to your catkin_make_isolated call.
For usage on a robot without Ubuntu, it is recommended to install compiled code into /opt/ros/indigo 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. Let's do that now before building the rest of ROS:
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 satified with these changes, incorporate the new rosinstall file into the workspace and update your workspace:
Rebuild your workspace
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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
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Once your workspace has been rebuilt, you should source the setup files again:
Can’t decide if you should buy a Mac or PC? It’s a tough decision because both platforms have different advantages and disadvantages. It really also depends a lot on external factors like what other devices you own and what kind of software you use.
For example, if you own an Xbox One, a Windows Phone, a Surface tablet and all the other computers in your home are Windows PCs, then it might be more convenient to stick with a PC. On the other hand, if you own an iPhone, an iPad, an Apple TV, and an AirPrint enabled printer, then a Mac would fit in really well with those other devices.
Additionally, even if you end up with a mixed environment with Windows and Mac devices, it’s pretty easy to share data across devices. It’s also fairly easy to access Mac files from a Windows PC and vice versa. You can even connect a Mac-formatted drive to a Windows PC and view the files directly. If you’re new to Mac, you’ll be happy to know that OS X has an equivalent for pretty much every feature in Windows.
So, without further ado, let’s go into the pros and cons for each platform, which includes the hardware and software. Obviously, this is a very biased and opinionated article, so feel free to share your thoughts if they are different.
Mac Pros and Windows Cons
- Macs have a built-in program called BootCamp, which allows you to install Windows, Linux or other operating systems in addition to OS X. Setting up a dual boot system in OS X is infinitely easier than it is in Windows. It’s also super easy to switch between the two operating systems.
- Macs work better with other Apple products in terms of software. This includes features like Handoff, iMessage, iCloud, iCloud Drive, iCloud Photo Library, iCloud Keychain, Find My iPhone, etc. Microsoft has tried to copy this, but only partially.
- Macs are less complicated and more intuitive to use. This is a very debatable point and the reason why I also list it as a con in the section below. If you’ve always been a Windows user, it can initially be counter-intuitive to use, however, I’ve found that it’s more logical once you get used to it.
- Even though Macs can get viruses or malware, the number of threats is still significantly less than for Windows just because the Windows base is so much larger.
- Almost all new PCs come installed with loads of bloatware from PC manufacturers, which requires manual removal. Mac computers have pre-installed software, but only from Apple and they don’t slow down your system. If you’re technically savvy, this is a non-issue, otherwise it can be a major nuisance.
- Apple has excellent customer support, AppleCare warranty programs, and exclusive Apple Stores where you can take your Mac or other Apple products for repairs, training or other issues.
- Macs are sleek and visually appealing. To get something close from PC manufacturers usually ends up negating the higher cost factor for Apple products.
- Speaking of cost, Macs are more expensive than PCs, but they also hold their resale value far better than PCs.
- Apple computers have some of the highest customer satisfaction rates in the industry. When you purchase a Mac, you are getting a high-quality machine. This can be true for PCs also, but with so many manufacturers and configurations, getting the best quality can be more difficult.
- Macs tend to be a bit more innovative in design and features. For example, Macs include Thunderbolt, USB Type C ports, multi-touch trackpads, force touch, keyboard backlighting and more.
- Macs can read NTFS or FAT formatted hard drives. Windows cannot read Mac formatted drives unless you install a third-party program.
- The iMac, the only Mac desktop other than the Mac Pro, is an all-in-one computer that you can get with a 4K or 5K display, something that really doesn’t exist in the Windows market at all unless you get an ultra-expensive custom rig. There is the HP Envy, but it isn’t as good as the iMac.
PC Pros and Mac Cons
- PCs are manufactured by many different companies, resulting in a huge selection of devices with a wide variation in prices. With Apple, you have only a few choices with set prices. In terms of desktops, Apple has only one geared towards consumers, so if the cost is prohibitive, a Windows desktop will be a much better choice.
- PCs are more up-gradable and configurable. On Macs, you can usually only upgrade the RAM or hard drive and that’s it. Pretty much every component on a desktop PC can be switched out. When purchasing PCs, you also have a lot more options that you can configure including processors, cases, memory, hard drives, ports, displays, etc.
- Overall, there is a lot more software available for Windows than for PC. The opposite is true when you look at smartphones, but we’re talking about computers here. There is usually an equivalent Mac program for every Windows app, but they are not always as good.
- Windows based PCs may have greater backwards compatibility. A five year old PC can easily run Windows 10 without any issue. A five year old Mac can run the latest version of OS X, but half the features will be missing and things don’t run as smoothly. For some reason, you always need the latest Mac in order to utilize all the new features in OS X.
- PCs are the absolute best option when it comes to gaming. Macs simply do not come with as powerful graphics cards, even high-end machines like the Mac Pro.
- Worldwide, most computers are PCs and Windows is the most popular operating system by far. This means the community is much larger and you can get more support for software and hardware.
- In terms of accessories, PCs have a lot more options and those options are usually cheaper.
- Though OS X is simpler, that’s not always the best for some people. Windows is more complex and powerful than OS X.
- PCs can be configured with hardware that Apple considers obsolete. Some newer Apple machines don’t even come with CD/DVD drives. It also seems Apple keeps reducing the number of ports on each newer machine. The new Macbook has one USB port and one headphone jack and that’s it.
- PCs work great with a whole slew of other products too. For example, you can stream your Xbox or PlayStation games to Windows.
These are some of the major pros and cons when it comes to Mac and PCs. There are a ton of other smaller pluses and minuses, but I don’t think those warrant that much attention when discussing this topic in general terms. Obviously, if you’re a professional graphics designer, then looking at specific compatible hardware and software would make more sense.
The point of this article is not to say one platform is better than the other, because that is simply not true. If you are a college student and the only thing that matters to you is your budget, then a Mac will probably not be best choice, regardless of the other benefits. In my opinion, if you have never tried a Mac, you should ask a friend or family member to loan you a device to see how you feel about it. Just about everyone has used Windows, so you pretty much know what you are getting in terms of software.
Let us know your opinions about why Mac or PC is better for you in the comments. Enjoy!