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Improve install instructions for macOS (#414)
Signed-off-by: Ryan Govostes <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
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Original file line number | Diff line number | Diff line change |
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@@ -12,33 +12,34 @@ The easiest way to get the sources of all libraries is to use | |
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To compile all the different libraries and gz-sim in the right order | ||
[colcon](https://colcon.readthedocs.io/en/released/) is recommended. | ||
The colcon tool is available on all platforms using pip (or pip3, if pip fails). | ||
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## Python3 from homebrew | ||
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Tools and dependencies for Harmonic can be installed using the [homebrew package manager](https://brew.sh/). | ||
The homebrew tool can be installed by entering the following in a terminal: | ||
Tools and dependencies for Harmonic can be installed using the [Homebrew package manager](https://brew.sh/). After installing Homebrew, add the `osrf/simulation` to Homebrew tap to be able to install prebuilt dependencies. | ||
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```bash | ||
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)" | ||
brew tap osrf/simulation | ||
brew update | ||
``` | ||
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Harmonic is compatible with Python3; it can be installed by running the following in a terminal: | ||
### Install compiler requirements | ||
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Building Gazebo Libraries require at least Xcode 10 on MacOS Mojave. The Xcode Command Line Tools are sufficient, and can be installed with: | ||
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```bash | ||
brew install python3 | ||
xcode-select --install | ||
``` | ||
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## vcstool and colcon from pip | ||
## Python 3 from Homebrew | ||
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PIP is available on all platforms: | ||
Harmonic is compatible with Python 3. Install the latest version from Homebrew: | ||
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```bash | ||
python3 -m pip install vcstool | ||
brew install python3 | ||
``` | ||
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## vcstool and colcon from PyPI | ||
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```bash | ||
python3 -m pip install -U colcon-common-extensions | ||
python3 -m pip install -U colcon-common-extensions vcstool | ||
``` | ||
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## Getting the sources | ||
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@@ -55,7 +56,7 @@ All the sources of gazebo-harmonic are declared in a yaml file. Download | |
it to the workspace: | ||
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```bash | ||
curl -O https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-harmonic.yaml | ||
curl -OL https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-harmonic.yaml | ||
``` | ||
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Use `vcstool` to automatically retrieve all the Gazebo libraries sources from | ||
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@@ -69,19 +70,10 @@ The src subdirectory should contain all the sources ready to be built. | |
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## Install dependencies | ||
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Add `osrf/simulation` to Homebrew formulae | ||
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```bash | ||
brew update | ||
brew tap osrf/simulation | ||
``` | ||
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Install all dependencies: | ||
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Dependency for Ogre: | ||
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```bash | ||
brew install xquartz --cask | ||
brew install --cask xquartz | ||
``` | ||
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General dependencies: | ||
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@@ -90,42 +82,18 @@ General dependencies: | |
brew install assimp boost bullet cmake cppzmq [email protected] doxygen eigen fcl ffmpeg flann freeimage freetype gdal gflags google-benchmark gts ipopt jsoncpp libccd libyaml libzzip libzip nlopt ode open-scene-graph ossp-uuid ogre1.9 ogre2.3 pkg-config protobuf qt@5 qwt-qt5 rapidjson ruby tbb tinyxml tinyxml2 urdfdom zeromq | ||
``` | ||
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`[email protected]` and `qt@5` are not sym-linked. To use those dependencies when building | ||
`gz-physics7` and `gz-gui8`, run the following after installation: | ||
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For Macs with Intel processors, add them to `/usr/local`: | ||
`[email protected]` and `qt@5` are "keg only" Homebrew formulae and their paths must be explicitly configured before building Gazebo: | ||
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```bash | ||
# [email protected] | ||
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/usr/local/opt/[email protected] | ||
export DYLD_FALLBACK_LIBRARY_PATH=${DYLD_FALLBACK_LIBRARY_PATH}:/usr/local/opt/[email protected]/lib:/usr/local/opt/octomap/local | ||
export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/usr/local/opt/[email protected]/lib/pkgconfig | ||
# qt@5 | ||
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/usr/local/opt/qt@5 | ||
``` | ||
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Note if you are on an ARM based Apple Silicon Mac machine, you will need to add them to `/opt/homebrew` instead: | ||
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH:+$CMAKE_PREFIX_PATH:}`brew --prefix [email protected]` | ||
export DYLD_FALLBACK_LIBRARY_PATH=${DYLD_FALLBACK_LIBRARY_PATH:+$DYLD_FALLBACK_LIBRARY_PATH:}`brew --prefix [email protected]`/lib:`brew --prefix octomap`/local | ||
export PKG_CONFIG_PATH=${PKG_CONFIG_PATH:+$PKG_CONFIG_PATH:}`brew --prefix [email protected]`/lib/pkgconfig | ||
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```bash | ||
# [email protected] | ||
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/homebrew/opt/[email protected] | ||
export DYLD_FALLBACK_LIBRARY_PATH=${DYLD_FALLBACK_LIBRARY_PATH}:/opt/homoebrew/opt/[email protected]/lib:/opt/homebrew/opt/octomap/local | ||
export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/opt/homebrew/opt/[email protected]/lib/pkgconfig | ||
# qt@5 | ||
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/homebrew/opt/qt@5 | ||
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH:+$CMAKE_PREFIX_PATH:}`brew --prefix qt@5` | ||
``` | ||
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### Install compiler requirements | ||
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The Gazebo Libraries require the Xcode 10 compiler on MacOS Mojave. | ||
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On Mac machines, gcc is acquired by installing Xcode command line tools. | ||
The required version of Xcode for Harmonic is Xcode 10.3, which can be downloaded from | ||
[Apple Developer Site](https://developer.apple.com/download/more/). | ||
You will need to sign in to your Apple account and download the Mojave version of | ||
Xcode command line tools. Command line tools can also be obtained by downloading | ||
Xcode from the Apple App Store (installing the full app may take over an hour). | ||
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## Building the Gazebo Libraries | ||
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Once the compiler and all the sources are in place it is time to compile them. | ||
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The workspace needs to be sourced every time a new terminal is used. | ||
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Run the following command to source the workspace in bash: | ||
Run the following command to source the workspace in zsh (the default macOS shell): | ||
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```bash | ||
. ~/workspace/install/setup.bash | ||
```zsh | ||
. ~/workspace/install/setup.zsh | ||
``` | ||
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Or in zsh: | ||
Or if you are using bash: | ||
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```zsh | ||
. ~/workspace/install/setup.zsh | ||
```bash | ||
. ~/workspace/install/setup.bash | ||
``` | ||
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You should now be able to launch gazebo: | ||
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