ROS melodic updates #126

berkaydeniz · 2018-08-05T22:21:03Z

This current version requires intervention for force linking pyyaml. No intervention needed on catkin build.

this modified version requires intervention for force linking pyYaml.

I introduced -p flag during some tests under some other context, it's truly redundant.

mikepurvis · 2018-08-07T13:02:05Z

Looks fantastic, thank you very much for getting this all into one place!

mikepurvis · 2018-08-07T13:03:50Z

install

@@ -137,26 +142,32 @@ do_install()
  pushd src
    # Avoid downloading opencv3; we already installed it from homebrew.
    wstool merge file://$(pwd)/../${WS}.rosinstall
-    wstool remove opencv3
+    #wstool remove opencv3


Please remove this stuff altogether vs just commenting it out— as of Melodic, opencv is back to using the system-packaged version with not entry in the rosdistro.

mikepurvis · 2018-08-07T13:06:05Z

install

-    if [ -d catkin ]; then
-      curl https://raw.githubusercontent.com/ros/catkin/8a47f4eceb4954beb4a5b38b50793d0bbe2c96cf/cmake/catkinConfig.cmake.in > catkin/cmake/catkinConfig.cmake.in
+    if [ -d bond_core ]; then
+      curl curl https://raw.githubusercontent.com/ros/bond_core/1240bce50ca1538cdad07dc472d31797257e0851/bondcpp/src/bond.cpp > bond_core/bondcpp/src/bond.cpp
    fi


This double curl doesn't look quite right. Please fix that and put in a comment indicating what we're waiting on for the patch to go away (in this case, bond_core 1.8.3 to be released, since ros/bond_core#37 is already merged).

It's weird it works like that. Will fix it and add comments indicating the releases.

mikepurvis · 2018-08-07T14:16:08Z

install

+    # https://github.com/ros-perception/image_common/pull/82
+    if [ -d image_common ]; then
+      curl https://raw.githubusercontent.com/meyerj/image_common/51be08ba5dc352597a2ad5baabb7e92c6baa2634/camera_calibration_parsers/CMakeLists.txt > image_common/camera_calibration_parsers/CMakeLists.txt
+    fi


This change looks super-gross. Basically any ROS package which wants to link to Python is going to have to do this dance on macOS. I'm fine to go this route for now just to get things moving along, but I wonder if perhaps a more transparent way might be to prepend CMAKE_PREFIX_PATH within ros-install-osx and have a small suite of wrapper CMake modules that provide the necessary indirection.

Thoughts?

I noticed that my pull request links are wrong. @meyerj has a better idea on how to address this, which is independent of the OS.

* removed opencv3 removal * introduced comments on all the manual changes pending merge and/or release * eliminated the double curl

the pull request references for the updates addressing Boost Python library corrected.

asimonov · 2018-08-08T21:10:38Z

works for me, but I have deleted line

echo export PATH='/usr/local/bin:$PATH' >> ~/.bash_profile

because it would completely disable my handcrafted .profile.

also my version has two extra options at the end of this line:

rosdep install --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} -y --as-root pip:no --skip-keys google-mock --skip-keys gtest

berkaydeniz · 2018-08-08T21:13:17Z

You shouldn’t need to skip those keys, the changes on `rosdeps.yaml` should take care of that.

berkaydeniz · 2018-08-08T21:15:51Z

also, I would recommend moving your personal changes on .profile back into .bash_profile

…irectly through github.

berkaydeniz · 2018-08-09T04:41:19Z

DRAFT WALKTHROUGH:

Start with uninstalling your homebrew:

ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/uninstall)"

Remove everything inside /usr/local with sudo privileges:

sudo rm -rf /usr/local/*

Remove the following lines from your ~/.bash_profile

export PATH=/usr/local/bin:$PATH
source /opt/ros/melodic/setup.bash # or any previous distribution

close the terminal and open a new one
go to the repository and run ./install
during rosdep installations yaml-cpp fails to link. Run:

brew link --overwrite yaml-cpp

and then run ./install again

berkaydeniz · 2018-08-09T04:49:30Z

Unfortunately there is a quite recently emerged problem: ros-infrastructure/catkin_pkg#234
I will have a commit with a temporary fix while this issue is resolved.

NikolausDemmel

Looks great, thanks. I added a few comments from my experience with just installing melodic on sierra.

NikolausDemmel · 2018-08-28T17:45:47Z

install

-      curl https://raw.githubusercontent.com/ros/catkin/8a47f4eceb4954beb4a5b38b50793d0bbe2c96cf/cmake/catkinConfig.cmake.in > catkin/cmake/catkinConfig.cmake.in
+    # Pending release https://github.com/ros/bond_core/pull/37
+    if [ -d bond_core ]; then
+      curl https://raw.githubusercontent.com/ros/bond_core/1240bce50ca1538cdad07dc472d31797257e0851/bondcpp/src/bond.cpp > bond_core/bondcpp/src/bond.cpp


Just a note: Maybe applying the patch instead of taking the files as is would be slightly more future proof, in case of a new release with other unrelated changes but this PR not merged. It also means just one line per PR and you get the latest version when the PR is updated.

curl https://patch-diff.githubusercontent.com/raw/ros/bond_core/pull/37.patch | patch -p1 --dir bond_core

Same for the other fixes from PR.

PS: overall I needed the following changes (from PRs) on Sierra for melodic:

# See: https://github.com/ros/catkin/pull/784 if [ -d catkin ]; then curl https://patch-diff.githubusercontent.com/raw/ros/catkin/pull/784.patch | patch -p1 --dir catkin fi # See: https://github.com/ros/bond_core/pull/37 if [ -d bond_core ]; then curl https://patch-diff.githubusercontent.com/raw/ros/bond_core/pull/37.patch | patch -p1 --dir bond_core fi # See: https://github.com/ros-perception/image_common/pull/85 if [ -d image_common ]; then curl https://patch-diff.githubusercontent.com/raw/ros-perception/image_common/pull/85.patch | patch -p1 --dir image_common fi # See: https://github.com/ros-perception/vision_opencv/pull/239 if [ -d vision_opencv ]; then curl https://patch-diff.githubusercontent.com/raw/ros-perception/vision_opencv/pull/239.patch | patch -p1 --dir vision_opencv fi # See: https://github.com/ros/actionlib/pull/111 # See: https://github.com/ros/actionlib/pull/105 if [ -d actionlib ]; then curl https://patch-diff.githubusercontent.com/raw/ros/actionlib/pull/111.patch | patch -p1 --dir actionlib curl https://patch-diff.githubusercontent.com/raw/ros/actionlib/pull/105.patch | patch -p1 --dir actionlib fi # See: https://github.com/ros-perception/laser_assembler/pull/16 if [ -d laser_assembler ]; then curl https://patch-diff.githubusercontent.com/raw/ros-perception/laser_assembler/pull/16.patch | patch -p1 --dir laser_assembler fi

NikolausDemmel · 2018-08-28T17:47:25Z

install

+  # based on https://stackoverflow.com/questions/45693149/openssl-aes-h-file-not-found-on-mac
+  cd /usr/local/include
+  ln -fs ../opt/openssl/include/openssl .
+  cd -


I had fixed this with adding some find_package(OpenSSL) in the cmake lists. But it is not clean yet (doesn't propagate to depending packages), so I'm not sure if it is worth the effort if this also works just as well.

PS: I noticed another issue with this. Since you only set the include path, the linker still links to the system ssl and crypto libraries. I guess that might lead to wired issues...

$ otool -L /opt/ros/melodic/lib/librosbag_storage.dylib | grep /usr/lib /usr/lib/libSystem.B.dylib (compatibility version 1.0.0, current version 1238.60.2) /usr/lib/libbz2.1.0.dylib (compatibility version 1.0.0, current version 1.0.5) /usr/lib/libssl.0.9.8.dylib (compatibility version 0.9.8, current version 0.9.8) /usr/lib/libcrypto.0.9.8.dylib (compatibility version 0.9.8, current version 0.9.8) /usr/lib/libc++.1.dylib (compatibility version 1.0.0, current version 307.5.0)

I got around that by passing -DCMAKE_CXX_FLAGS="-I/usr/local/opt/openssl/include" to it.

@Karsten1987, you mean as an alternative to ln -fs ... or adding find_package ...? I guess it doesn't address the linker issue still?

As an alternative to the ln -fs. For finding the library in the first place, I added the openssl to my DYLD_LIBRARY_PATH:

export DYLD_LIBRARY_PATH=`brew --prefix openssl`/lib:$DYLD_LIBRARY_PATH

Ah yes that would fix it also for dynamic linking. Thanks! 👍

NikolausDemmel · 2018-08-28T17:51:53Z

install

+
+    # temporary fix for catkin_pkg issue with unicode characters reported in https://github.com/ros-infrastructure/catkin_pkg/issues/234
+    if [ -d roslisp ]; then
+      curl https://raw.githubusercontent.com/berkaydeniz/roslisp/03826c6dd92fd348ffd7a74de1f361c13a92346c/manifest.xml > roslisp/manifest.xml


I believe this has been fixed.

grafoteka · 2018-10-02T03:59:55Z

Hi @berkaydeniz,
I'm trying to use your script on a fresh installation of OS X High Sierra.

First I had this error: Collecting pycurl

Which I solved from:

sudo pip uninstall pycurl
export PYCURL_SSL_LIBRARY=openssl
export LDFLAGS=-L/usr/local/opt/openssl/lib;export CPPFLAGS=-I/usr/local/opt/openssl/include;pip install pycurl --compile --no-cache-dir

Then I run again your script but I have the next error:

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
rosbag: No definition of [python-gnupg] for OS [osx]
gazebo_dev: No definition of [libgazebo9-dev] for OS [osx]
rosbag_storage: No definition of [libgpgme-dev] for OS [osx]

But I don't know how to solve it.

Thank you,
Jorge

kdorsel · 2018-10-08T17:07:10Z

I ran through this this weekend and a few comments which might help someone:
Before installing pycurl I did this:

brew install openssl
export PYCURL_SSL_LIBRARY=openssl

I also had to manually link the openssl headers for cmake to find them during the build.

$ cd /usr/local/include
$ ln -s ../opt/openssl/include/openssl .

I had an issue with yaml-cpp and gtest conflicts. yaml-cpp tried installing its own version of gtest.

I had to modify the yaml-cpp homebrew formula:

option "without-tests", "Do not include gtest"
...
if build.without? "tests"
      args << "-DYAML_CPP_BUILD_TESTS=OFF"
end

and build from source:

brew install --build-from-source yaml-cpp --without-tests

grafoteka · 2018-10-08T23:12:15Z

Hi @kdorsel,
didn't you have any problem with:

rosbag: No definition of [python-gnupg] for OS [osx]
gazebo_dev: No definition of [libgazebo9-dev] for OS [osx]
rosbag_storage: No definition of [libgpgme-dev] for OS [osx]

I try to install again today, and still getting stuck here.

Also, if I try to install manually python-gnupg, it says that I have it already install it.

Jorges-MacBook-Pro:ros-install-osx jorge$ pip install python-gnupg
Requirement already satisfied: python-gnupg in /usr/local/lib/python2.7/site-packages (0.4.3)

Finally, I tried to install python-gnupg, but still having the same error.

https://github.com/vsajip/python-gnupg

kdorsel · 2018-10-09T02:15:40Z

@grafoteka No, I did not have any of those issues. I had other smaller errors of brew/pip conflicting and not linking, but that's a quick fix.

Do you have the following packages installed in brew? gnupg, gazebo9, gpgme

grafoteka · 2018-10-09T02:54:17Z

@grafoteka No, I did not have any of those issues. I had other smaller errors of brew/pip conflicting and not linking, but that's a quick fix.

Do you have the following packages installed in brew? gnupg, gazebo9, gpgme

@kdorsel, yes I have installed those packages

I don't know where is the problem...

kdorsel · 2018-10-09T13:15:44Z

Can you maybe make a gist of the all the terminal output when running this scrript?

grafoteka · 2018-10-09T13:54:59Z

@kdorsel, here is the terminal output

Also, I don't know if I should have a problem with CMake, I have this warnings when installing Gazebo and gnupg:

==> Caveats
==> gettext
gettext is keg-only, which means it was not symlinked into /usr/local,
because macOS provides the BSD gettext library & some software gets confused if both are in the library path.

If you need to have gettext first in your PATH run:
  echo 'export PATH="/usr/local/opt/gettext/bin:$PATH"' >> ~/.bash_profile

For compilers to find gettext you may need to set:
  export LDFLAGS="-L/usr/local/opt/gettext/lib"
  export CPPFLAGS="-I/usr/local/opt/gettext/include"

==> Pouring hdf5-1.10.3.high_sierra.bottle.tar.gz
Warning: hdf5 dependency gcc was built with a different C++ standard
library (libstdc++ from clang). This may cause problems at runtime.
🍺  /usr/local/Cellar/hdf5/1.10.3: 262 files, 15MB

==> Pouring flann-1.9.1_5.high_sierra.bottle.tar.gz
Warning: flann dependency gcc was built with a different C++ standard
library (libstdc++ from clang). This may cause problems at runtime.
🍺  /usr/local/Cellar/flann/1.9.1_5: 64 files, 11.5MB

==> Pouring icu4c-62.1.high_sierra.bottle.tar.gz
==> Caveats
icu4c is keg-only, which means it was not symlinked into /usr/local,
because macOS provides libicucore.dylib (but nothing else).

If you need to have icu4c first in your PATH run:
  echo 'export PATH="/usr/local/opt/icu4c/bin:$PATH"' >> ~/.bash_profile
  echo 'export PATH="/usr/local/opt/icu4c/sbin:$PATH"' >> ~/.bash_profile

For compilers to find icu4c you may need to set:
  export LDFLAGS="-L/usr/local/opt/icu4c/lib"
  export CPPFLAGS="-I/usr/local/opt/icu4c/include"

For pkg-config to find icu4c you may need to set:
  export PKG_CONFIG_PATH="/usr/local/opt/icu4c/lib/pkgconfig"

==> Pouring dartsim-6.6.1_2.high_sierra.bottle.tar.gz
Warning: dartsim dependency gcc was built with a different C++ standard
library (libstdc++ from clang). This may cause problems at runtime.
🍺  /usr/local/Cellar/dartsim/6.6.1_2: 1,368 files, 46.1MB

==> Pouring gazebo9-9.4.1.high_sierra.bottle.tar.gz
Warning: osrf/simulation/gazebo9 dependency gcc was built with a different C++ standard
library (libstdc++ from clang). This may cause problems at runtime.
🍺  /usr/local/Cellar/gazebo9/9.4.1: 1,238 files, 125.8MB

berkaydeniz added 2 commits August 5, 2018 18:17

melodic updates

10d6fd3

this modified version requires intervention for force linking pyYaml.

changes on rosdep

b6eb1ea

berkaydeniz mentioned this pull request Aug 5, 2018

macOS High Sierra installation #116

Closed

a redundant modification

13c2720

I introduced -p flag during some tests under some other context, it's truly redundant.

mikepurvis reviewed Aug 7, 2018

View reviewed changes

berkaydeniz added 2 commits August 7, 2018 21:52

Update install

238d385

* removed opencv3 removal * introduced comments on all the manual changes pending merge and/or release * eliminated the double curl

Update install

1f457dd

the pull request references for the updates addressing Boost Python library corrected.

berkaydeniz mentioned this pull request Aug 9, 2018

invalid XML: 'ascii' codec can't encode character ros-infrastructure/catkin_pkg#234

Closed

caught two problems introduced while addresing mikepurvis' comments d…

10f9710

…irectly through github.

temporary fix for ascii problem.

e149b36

NikolausDemmel reviewed Aug 28, 2018

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ROS melodic updates #126

ROS melodic updates #126

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ROS melodic updates #126

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ROS melodic updates #126

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