RViz MacOS (Monterey)
I tried to get ROS 2 foxy running on MacOS but I was unable to compile it, so I chose the path of running ROS2 in a docker container which works fine! However, I am unable to run RViz. So my options are either to run it natively or run it in docker and x11 forward it. I would prefer to run it natively, so my question is if anyone has done this? Or if someone has gotten RViz running on any MacOS(aarch64) in a container or natively it doesn't matter. I just want it to run in the end.
Asked by renob321 on 2022-07-26 08:43:25 UTC
Answers
ROS2 Humble, including rviz2
, will build on macOS Monterey if you follow the install instructions and add a couple of patches (cyclonedds
and geometry2
). rqt
will build but is missing most of the plugins because python_qt_binding
relies on a version of sip which is not compatible with the packages installed using brew.
The changes needed are:
cyclonedds
: disable ENABLE_SHM
in CMakeLists.txt
as a library dependency is not building.
geometry2
: add ${orocos_kdl_INCLUDE_DIRS}
to the tf2_eigen_kdl
CMakeLists.txt
target include directories. On macOS the includes installed by brew are not being resolved by the orocos_kdl_vendor
package (a proper solution would be to fix orocos_kdl_vendor
, but this work around will get rviz2
compiling).
A build command that doesn't require you to disable SIP is:
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_CXX_STANDARD=17 --packages-skip-by-dep python_qt_binding --continue-on-error
There is a meta-issue tracking progress on macOS support in ROS2 here: https://github.com/ros2/ros2/issues/1148
Asked by srmainwaring on 2022-08-28 06:39:18 UTC
Comments