issues installing ros2 foxy fitzroy on macos 10.15 - rcutils

asked 2020-06-20 23:01:13 -0500

33thou
51 ●3 ●7 ●8

updated 2020-09-17 13:07:56 -0500

I'm new to ROS, and trying to get up and running using these instructions:

I've installed the system dependencies globally using homebrew
I've installed the python dependencies in a Python virtual environment
I did not disable SIP because I didn't feel comfortable doing this without understanding the implications. Reading #409 and #457 it sounds like some things might work and others won't, so I don't know if SIP causing the issues
I performed the "Get the ROS 2 code" step which populated ~/ros2_foxy/src
I did not install additional DDS vendors
I tried running colcon build --symlink-install which began populating build, install, and log:

This resulted in:

Summary: 73 packages finished [12min 59s]
  1 package failed: rcutils
  3 packages aborted: ament_index_cpp fastrtps orocos_kdl
  5 packages had stderr output: foonathan_memory_vendor libyaml_vendor rcutils uncrustify_vendor yaml_cpp_vendor
  224 packages not processed

The error related to rcutils was:

--- stderr: rcutils
CMake Error at /usr/local/Cellar/cmake/3.17.3/share/cmake/Modules/FindPackageHandleStandardArgs.cmake:164 (message):
  Could NOT find PythonExtra (missing: PythonExtra_LIBRARIES)
Call Stack (most recent call first):
  /usr/local/Cellar/cmake/3.17.3/share/cmake/Modules/FindPackageHandleStandardArgs.cmake:445 (_FPHSA_FAILURE_MESSAGE)
  /Users/d/ros2_foxy/install/python_cmake_module/share/python_cmake_module/cmake/Modules/FindPythonExtra.cmake:216 (find_package_handle_standard_args)
  /Users/d/ros2_foxy/install/launch_testing_ament_cmake/share/launch_testing_ament_cmake/cmake/launch_testing_ament_cmake-extras.cmake:18 (find_package)
  /Users/d/ros2_foxy/install/launch_testing_ament_cmake/share/launch_testing_ament_cmake/cmake/launch_testing_ament_cmakeConfig.cmake:41 (include)
  /Users/d/ros2_foxy/install/ament_lint_auto/share/ament_lint_auto/cmake/ament_lint_auto_find_test_dependencies.cmake:36 (find_package)
  CMakeLists.txt:128 (ament_lint_auto_find_test_dependencies)

It sounds from this error like some Python dependency might be missing, but it's not clear to me which one.

After this, I tried running running the environment setup. I tried this in bash (normally I run fish):

bash-5.0$ . ~/ros2_foxy/install/setup.bash 
bash-5.0$ which ros2
bash-5.0$ ros2
bash: ros2: command not found

I'm not sure where the ros2 command is supposed to be located. Inspecting setup.bash it doesn't seem to modify my $PATH, and searching for this name only turns up the directory ./src/ros2:

bash-5.0$ ls
build       install     log     ros2.repos  src
bash-5.0$ find . -name ros2
./src/ros2

Thank you for any assistance!

At this point I'll try installing on an Ubuntu machine instead, but I was really hoping to be able to develop using my mac.

Comments

You can always try, but this is stated at the top of the page you link to (under System requirements):

We support macOS 10.14 (Mojave).

you seem to be trying to do this on 10.15, which is not supported at the moment.

gvdhoorn ( 2020-06-21 03:53:10 -0500 )edit

I didn't notice that, thanks for pointing it out.

33thou ( 2020-06-21 03:56:41 -0500 )edit

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answered 2020-09-13 19:55:48 -0500

33thou
51 ●3 ●7 ●8

updated 2020-09-17 13:52:57 -0500

Answering my own question here:

From FindPythonExtra.cmake I determined the culprit to be some kind of interaction between cmake, python3-config, brew, pyenv, and pipenv.

This was exacerbated by the cmake cache, which persisted incorrectly returned results from python3-config --ldflags between runs.

First, note that for debugging, it's useful to pass --cmake-args=" --log-level=STATUS" --cmake-clean-cache to colcon in order to see status messages and avoid caching broken values of the python3-config output between runs.

It appears that when you're using pyenv+pipenv and your virtual environment is pointing to a brew-installed python, python3-config returns incorrect information. For example:

➜ pipenv shell
(ros2_foxy) ➜ which python  
/Users/me/ros2_foxy/.venv/bin/python
(ros2_foxy) ➜ python --version        
Python 3.8.5
(ros2_foxy) ➜ which python3-config
/Users/me/.pyenv/shims/python3-config
(ros2_foxy) ➜ python3-config --ldflags
-L/Users/me/.pyenv/versions/3.7.6/lib/python3.7/config-3.7m-darwin -lpython3.7m -ldl -framework CoreFoundation
(ros2_foxy) ➜ python3-config --includes
-I/Users/me/.pyenv/versions/3.7.6/include/python3.7m -I/Users/me/.pyenv/versions/3.7.6/include/python3.7m

This results in the ros2 _FindPythonExtra.cmake_ file failing with the error Could NOT find PythonExtra (missing: PythonExtra_LIBRARIES).

On the other hand, if pipenv and pyenv are set up to use a pyenv-installed rather than brew-installed version of Python in the virtual environment, things seem to work. This can be done by explicitly setting an alternate version, e.g.

➜ pipenv shell --python 3.7

Now the results of python3-config are consistent with the virtual environment:

(ros2_foxy) ➜ which python
/Users/me/ros2_foxy/.venv/bin/python
(ros2_foxy) ➜ python --version
Python 3.7.6
(ros2_foxy) ➜ which python3-config
/Users/me/.pyenv/shims/python3-config
(ros2_foxy) ➜ python3-config --ldflags
-L/Users/me/.pyenv/versions/3.7.6/lib/python3.7/config-3.7m-darwin -lpython3.7m -ldl -framework CoreFoundation
(ros2_foxy) ➜ python3-config --includes
-I/Users/me/.pyenv/versions/3.7.6/include/python3.7m -I/Users/me/.pyenv/versions/3.7.6/include/python3.7m

And rcutils builds:

(ros2_foxy) ➜ colcon build --symlink-install --packages-select rcutils --cmake-args=" --log-level=STATUS" --cmake-clean-cache
[1.572s] WARNING:colcon.colcon_core.verb:Trigger build
Starting >>> rcutils 
[1.972s] WARNING:colcon.colcon_cmake.task.cmake.build:MAKE
[1.973s] WARNING:colcon.colcon_cmake.task.cmake.build:CONFIGURE ['--log-level=STATUS', '-DAMENT_CMAKE_SYMLINK_INSTALL=1']
[1.973s] WARNING:colcon.colcon_cmake.task.cmake.build:==================================================================
[1.973s] WARNING:colcon.colcon_cmake.task.cmake.build:context         <colcon_core.task.TaskContext object at 0x105ca6f10>
[1.974s] WARNING:colcon.colcon_cmake.task.cmake.build:exec            ['/usr/local/bin/cmake', '/Users/me/ros2_foxy/src/ros2/rcutils', '--log-level=STATUS', '-DAMENT_CMAKE_SYMLINK_INSTALL=1', '-DCMAKE_INSTALL_PREFIX=/Users/me/ros2_foxy/install/rcutils']
[1.974s] WARNING:colcon.colcon_cmake.task.cmake.build:cwd             /Users/me/ros2_foxy/build/rcutils
[1.974s] WARNING:colcon.colcon_cmake.task.cmake.build:==================================================================
--- stderr: rcutils                              
_python_version_no_dots 37
_python_version 3.7
_library_paths /Users/me/.pyenv/versions/3.7.6/lib/python3.7/config-3.7m-darwin
NO_SYSTEM_ENVIRONMENT_PATH 
Using PythonExtra_LIBRARIES: /Users/me/.pyenv/versions/3.7.6/lib/python3.7/config-3.7m-darwin/libpython3.7m.a
---
Finished <<< rcutils [6.88s]

Summary: 1 package finished [8.12s]
  1 package had stderr output: rcutils

Success! Well, sort of: I ... (more)

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