[meta] OS X support in hydro

[NikolausDemmel]

This is a meta issue to track all the long-standing issues around OS X support in hydro (see #4597 for indigo issues) and provide a reference for needed workarounds.

The following issues need to be fixed for desktop_full to build from source on OS X:

• [10.9 only] orocos_kdl needs to be re-released and the depending patches in robot_state_publisher and robot_model need to be merged & released ( Remove definitions of stl containers with incomplete types orocos/orocos_kinematics_dynamics#4 (comment)). Update: orocos_kdl was released to indigo and hydro, so we are waiting on the merge and release of Update KDL SegmentMap interface to use shared pointers robot_model#43 and Update KDL SegmentMap interface to use shared pointers robot_state_publisher#5. Update2: only the robot_model release is still missing (it is released to indigo already). Update3: all patches have been released.
• [10.9 only] CUDA needs to be disabled in opencv2, see Update CMakeLists.txt ros-gbp/opencv2-release#4
• rodep installing gcc needs to be addressed: rosdep installs gcc on OS X ros-infrastructure/rosdep#328
• some python/cmake related issues: qt_gui_cpp_sip: Add python include dirs ros-visualization/qt_gui_core#46, Add python headers for python bindings ros-visualization/rviz#788
• Update sip_helper to use python header dirs ros-visualization/python_qt_binding#12 needs to be backportet and released to hydro.
• cmake and brewed python do not work together well. An experimental alternative LibPython cmake module can be installed by brew remove cmake; brew install nikolausdemmel/devel/cmake. See cmake find_package(PythonLibs) broken with brewed python on 10.9 Homebrew/legacy-homebrew#25118.
• using system python leads to issues when formulae with dependecies on python are installed, because by default the bottles are installed and bottle depend on brewed python (and therefore install them). See installing formula with python requirement and system python Homebrew/legacy-homebrew#31229.

The following is a collection of workarounds on top of the install instructions needed to address the above issues (applies to desktop_full builds):

---

[NikolausDemmel]

The gcc issue has been resolved (ros-infrastructure/rosdep#328)

[NikolausDemmel]

The CUDA issue has been resolved (ros-gbp/opencv2-release#4)

[NikolausDemmel]

cmake / python issues have come up that seem to be specific to OS X: ros-visualization/qt_gui_core#46, ros-visualization/rviz#788

[wjwwood]

I believe that they are specific to cmake 3.0.0.

[NikolausDemmel]

@wjwwood: Are you sure? Those are not the FIND_VERSION related issues with cmake 3.0, but about the sip_helper not including the PYTHON_HEADER_DIRS. I don't see how that would have worked in cmake 2.8.. I guess it doesn't really matter, as long as they are fixed :)

[NikolausDemmel]

ros-visualization/python_qt_binding#12 has been merged; once released, the above python issues should be resolved.

[jmtatsch]

Just built indigo from source, robot_model and robot_state_publisher still needed patching as described and i had to manually brew install console_bridge and urdfdom... but besides that everything went quite well. Thanks for your effort!

[NikolausDemmel]

Just built indigo from source, robot_model and robot_state_publisher still needed patching as described and i had to manually brew install console_bridge and urdfdom.

Did you use rosdep to install dependencies? It should have installed console_bridge and urdfdom. If you didn't use rosdep, could you please uninstall those packages and verify that rosdep does install them. If it doesn't we should investigate. Thanks.

Note that Mac OS X on idigo is being tracked here: #4597. But you are right that the orocos_kdl related patches are the only real issues. It would be great to get that set of patches merged and released before releasing indigo, in particular because it is an API breaking change for orocos_kdl. But somehow progress has stalled on the robot_model and robot_state_publisher side...

[wjwwood]

#5107 Contains the fix for robot_state_publisher, I am cowardly refusing to release robot_model into hydro until I get feedback from @isucan about the staged changes.

[grafoteka]

Hi! i'm trying to catkin_make all the packages and i'm having the next error:
CMake Warning at /Users/jdeleon/indigo_desktop_full_ws/install_isolated/share/catkin/cmake/test/gtest.cmake:66 (message):
skipping gtest 'image_geometry-utest' in project 'image_geometry'
Call Stack (most recent call first):
/Users/jdeleon/indigo_desktop_full_ws/install_isolated/share/catkin/cmake/test/gtest.cmake:34 (catkin_add_executable_with_gtest)
test/CMakeLists.txt:3 (catkin_add_gtest)

CMake Error at test/CMakeLists.txt:4 (target_link_libraries):
Cannot specify link libraries for target "image_geometry-utest" which is
not built by this project.

Do you know how to install that library?

Thank you

[wjwwood]

@grafoteka Please ask this on answers.ros.org, since this issue is not the appropriate place to ask this question. And when you do so, include more information, like what tutorial you are following or what you're trying to do and what command you are running exactly. For example, your files are in install_isolated but you say you're using catkin_make and not catkin_make_isolated, which doesn't seem to be right.

[wjwwood]

Since Hydro is EOL I'm going to close this in favor of the Jade meta issue.