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ROS melodic updates #126

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ROS melodic updates #126

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10d6fd3
melodic updates
berkaydeniz Aug 5, 2018
b6eb1ea
changes on rosdep
berkaydeniz Aug 5, 2018
13c2720
a redundant modification
berkaydeniz Aug 7, 2018
238d385
Update install
berkaydeniz Aug 8, 2018
1f457dd
Update install
berkaydeniz Aug 8, 2018
10f9710
caught two problems introduced while addresing mikepurvis' comments d…
Aug 9, 2018
e149b36
temporary fix for ascii problem.
Aug 9, 2018
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58 changes: 38 additions & 20 deletions install
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
# NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

ROS_DISTRO=${ROS_DISTRO:-lunar}
ROS_DISTRO=${ROS_DISTRO:-melodic}
ROS_CONFIGURATION=${ROS_CONFIGURATION:-desktop_full}
ROS_EXTRA_PACKAGES=${ROS_EXTRA_PACKAGES:-}
ROS_INSTALL_DIR=${ROS_INSTALL_DIR:-/opt/ros/${ROS_DISTRO}}
Expand Down Expand Up @@ -78,7 +78,7 @@ do_install()

# Brewed Python
if [ ! "$(which python2)" = "/usr/local/bin/python2" ]; then
brew install python
brew install python@2
mkdir -p ~/Library/Python/2.7/lib/python/site-packages
echo "$(brew --prefix)/lib/python2.7/site-packages" >> ~/Library/Python/2.7/lib/python/site-packages/homebrew.pth
fi
Expand All @@ -90,7 +90,7 @@ do_install()
brew tap osrf/simulation

# ROS infrastructure tools
brew install libyaml || true
brew install libyaml
pip2 install -U setuptools rosdep rosinstall_generator wstool rosinstall catkin_tools bloom empy sphinx pycurl

# Rosdep has an issue detecting that qt5 is correctly installed, so preinstall it. This is a keg-only formula,
Expand Down Expand Up @@ -118,11 +118,17 @@ do_install()
sudo rosdep init
fi
if [ ! -f /etc/ros/rosdep/sources.list.d/10-ros-install-osx.list ]; then
echo "This sudo prompt adds the the brewed python rosdep yaml to /etc/ros/rosdep/sources.list.d/10-ros-install-osx.list"
echo "This sudo prompt adds the brewed python rosdep yaml to /etc/ros/rosdep/sources.list.d/10-ros-install-osx.list"
sudo sh -c "echo 'yaml file://$(pwd)/rosdeps.yaml osx' > /etc/ros/rosdep/sources.list.d/10-ros-install-osx.list"
fi
rosdep update

# set up the symlink for openssl
# 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 -
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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.

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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)

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

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

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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

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


# Remove previous workspace if present, create and enter new one.
WS=${ROS_DISTRO}_${ROS_CONFIGURATION}_ws
if [ -d "$WS" ]; then
Expand All @@ -135,28 +141,40 @@ do_install()
rosinstall_generator ${ROS_CONFIGURATION} ${ROS_EXTRA_PACKAGES} --rosdistro ${ROS_DISTRO} --deps --tar > ${WS}.rosinstall
wstool init src
pushd src
# Avoid downloading opencv3; we already installed it from homebrew.
wstool merge file://$(pwd)/../${WS}.rosinstall
wstool remove opencv3
wstool update -j8

# See: https://github.com/ros/catkin/pull/784
if [ -d catkin ]; then
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
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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.

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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

fi

# Pending merge and release https://github.com/ros-perception/vision_opencv/pull/239
if [ -d vision_opencv ]; then
curl https://raw.githubusercontent.com/meyerj/vision_opencv/9a9ad348abdfed010c70604cd964786f22220b30/cv_bridge/CMakeLists.txt > vision_opencv/cv_bridge/CMakeLists.txt
fi

# Pending release: https://github.com/ros-visualization/rviz/pull/1165
if [ -d rviz ]; then
curl https://raw.githubusercontent.com/mikepurvis/rviz/21eac2bcc061bb623fd17aa449f6215c493b27f2/CMakeLists.txt > rviz/CMakeLists.txt
# Pending merge and release https://github.com/ros-perception/image_common/pull/85
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

if [ -d image_pipeline ]; then
# Pending merge and release: https://github.com/ros-perception/image_pipeline/pull/303
curl https://raw.githubusercontent.com/mikepurvis/image_pipeline/d308d00aed5b66961f9e13ab7a50660a24be7c7f/image_proc/CMakeLists.txt > image_pipeline/image_proc/CMakeLists.txt
curl https://raw.githubusercontent.com/mikepurvis/image_pipeline/d308d00aed5b66961f9e13ab7a50660a24be7c7f/stereo_image_proc/CMakeLists.txt > image_pipeline/stereo_image_proc/CMakeLists.txt
# Pending release https://github.com/ros/actionlib/pull/105
if [ -d actionlib ]; then
curl https://raw.githubusercontent.com/ros/actionlib/e30896c84209dd9b605b91f34087aefc1de91d57/src/connection_monitor.cpp > actionlib/src/connection_monitor.cpp
curl https://raw.githubusercontent.com/ros/actionlib/e30896c84209dd9b605b91f34087aefc1de91d57/include/actionlib/destruction_guard.h > actionlib/include/actionlib/destruction_guard.h
curl https://raw.githubusercontent.com/ros/actionlib/e30896c84209dd9b605b91f34087aefc1de91d57/include/actionlib/server/simple_action_server_imp.h > actionlib/include/actionlib/server/simple_action_server_imp.h
curl https://raw.githubusercontent.com/ros/actionlib/e30896c84209dd9b605b91f34087aefc1de91d57/include/actionlib/client/simple_action_client.h > actionlib/include/actionlib/client/simple_action_client.h
fi

# Pending merge and release: https://github.com/ros-perception/image_pipeline/pull/304
curl https://raw.githubusercontent.com/mbreyer/image_pipeline/4bf67d3c861cb157e8174f67250680263b18d2b7/image_publisher/CMakeLists.txt > image_pipeline/image_publisher/CMakeLists.txt
# Pending release https://github.com/ros-perception/laser_assembler/pull/16
if [ -d laser_assembler ]; then
curl https://raw.githubusercontent.com/ros-perception/laser_assembler/5c504c05078a684746860efb9db433f73c896d32/test/test_assembler.cpp > laser_assembler/test/test_assembler.cpp
fi

# 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
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I believe this has been fixed.

fi

# Package dependencies.
Expand All @@ -181,7 +199,8 @@ do_install()
-DCMAKE_FIND_FRAMEWORK=LAST \
-DPYTHON_EXECUTABLE=$(which python2) \
-DPYTHON_LIBRARY=$(python2 -c "import sys; print sys.prefix")/lib/libpython2.7.dylib \
-DPYTHON_INCLUDE_DIR=$(python2 -c "import sys; print sys.prefix")/include/python2.7
-DPYTHON_INCLUDE_DIR=$(python2 -c "import sys; print sys.prefix")/include/python2.7 \
-DCMAKE_CXX_STANDARD=14
catkin build --limit-status-rate 1

echo "Installation successful, please source the ROS workspace:"
Expand All @@ -202,5 +221,4 @@ do_install()
fi
fi
}

do_install
24 changes: 19 additions & 5 deletions rosdeps.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,22 +4,32 @@ libogre-dev:
homebrew:
packages: [ogre1.9]

# Use Gazebo 8 instead of 7.
gazebo7:
# Use Gazebo 9.
gazebo9:
osx:
homebrew:
packages: [gazebo8]
libgazebo7-dev:
packages: [gazebo9]
libgazebo9-dev:
osx:
homebrew:
packages: [gazebo8]
packages: [gazebo9]

libgpgme-dev:
osx:
homebrew:
packages: [gpgme]
# Don't try to install opencv3
opencv3:
osx:
homebrew:
packages: []

# Don't try to install google-mock
google-mock:
osx:
homebrew:
packages: []

# Installing all this Python stuff from homebrew instead of pip
# means we get pre-built bottles and don't have to build it all
# each time.
Expand All @@ -37,6 +47,10 @@ python-numpy:
osx:
homebrew:
packages: [numpy]
python-gnupg:
osx:
pip:
packages: [python-gnupg]
python-scipy:
osx:
homebrew:
Expand Down