How to install ROS Indigo on OS X Yosemite

Veröffentlicht am 21. Februar 2015 von Julian Tatsch

Compiling the Robot Operating System (ROS) Indigo on Mac OS X can be quite a challenge. Here is a well tested recipe originally created by Mike Purvis and updated by me for OS X Yosemite 10.10.2:

# NOTE: These instructions do not represent a robust, self-troubleshooting install; they
# are definitely not suitable for dumping to a giant script and running as one. If you 
# use them, they should be run one at a time, with an eye out for errors or problems
# along the way.
#
# The #1 issue you are likely to encounter is with Homebrew or Python packages whose
# binary components link against system Python. This will result in runtime segfaults,
# especially in rviz. If you suspect this is occurring, you can attempt to remove and
# reinstall the offending packages, or go for the nuclear option--- empty your Cellar
# and site-packages folders and start over with brewed python from the beginning.
 
# !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
# If a cleanup is necessary, proceed with extreme caution!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
# !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
 
# Remove old ROS installations
rm -rf /opt/ros
rm -rf ~/ros_catkin_ws
 
# Uninstall homebrew
brew install wget
wget https://gist.githubusercontent.com/mxcl/1173223/raw/a833ba44e7be8428d877e58640720ff43c59dbad/uninstall_homebrew.sh
bash uninstall_homebrew.sh
rm uninstall_homebrew.sh
rm -rf /usr/local/Cellar /usr/local/.git &amp;&amp; brew cleanup
rm -rf /usr/local/Library/Taps
 
# Clean up all confusing python packages
sudo rm -rf /Library/Python/2.7/site-packages
sudo rm -rf $(brew --prefix)/lib/python2.7/site-packages
 
# Now we are ready to start fresh.
# If you haven't already, install XQuartz using the installer from its own website:
# https://xquartz.macosforge.org
 
# Install Homebrew
ruby -e &quot;$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)&quot;
echo export PATH='/usr/local/bin:$PATH' &gt;&gt; ~/.zshrc
source .zshrc
brew doctor
brew update
 
# Install brewed python
brew install python
mkdir -p ~/Library/Python/2.7/lib/python/site-packages
echo &quot;$(brew --prefix)/lib/python2.7/site-packages&quot; &gt;&gt; ~/Library/Python/2.7/lib/python/site-packages/homebrew.pth
 
# Homebrew taps for prerequisites
brew tap ros/deps
brew tap osrf/simulation
brew tap homebrew/versions
brew tap homebrew/science
 
# Prerequisites
brew install cmake libyaml lz4 theora
brew install boost --with-python
brew install opencv --with-qt --with-eigen --with-tbb
brew install https://raw.githubusercontent.com/NikolausDemmel/homebrew-simulation/ogre-fixes/ogre1.9.rb --devel
brew install https://raw.githubusercontent.com/NikolausDemmel/homebrew-simulation/ogre-fixes/gazebo2.rb
 
# Install the ROS infrastructure tools, you may have to run this several times until all python deps are properly installed
pip install -U setuptools rosdep rosinstall_generator wstool rosinstall catkin_tools catkin_pkg bloom empy sphinx
sudo rosdep init
rosdep update
 
# Download the ROS sources
mkdir ros_catkin_ws &amp;&amp; cd ros_catkin_ws
rosinstall_generator desktop_full --rosdistro indigo --deps --tar &gt; indigo.rosinstall
wstool init -j8 src indigo.rosinstall
 
# Install the ROS dependencies
rosdep install --from-paths src --ignore-src --rosdistro indigo -y --skip-keys ogre --skip-keys gazebo
 
# Parallel build
sudo mkdir -p /opt/ros/indigo
sudo chown $USER /opt/ros/indigo
catkin config --install  --install-space /opt/ros/indigo
catkin build \
  -DCMAKE_BUILD_TYPE=Release \
  -DPYTHON_LIBRARY=/usr/local/Cellar/python/2.7.9/Frameworks/Python.framework/Versions/2.7/lib/libpython2.7.dylib \
  -DPYTHON_INCLUDE_DIR=/usr/local/Cellar/python/2.7.9/Frameworks/Python.framework/Versions/2.7/include/python2.7

#Now you can source your new ros installation 
source /opt/ros/indigo/setup.zsh

# NOTE: These instructions do not represent a robust, self-troubleshooting install; they

# are definitely not suitable for dumping to a giant script and running as one. If you

# use them, they should be run one at a time, with an eye out for errors or problems

# along the way.

# The #1 issue you are likely to encounter is with Homebrew or Python packages whose

# binary components link against system Python. This will result in runtime segfaults,

# especially in rviz. If you suspect this is occurring, you can attempt to remove and

# reinstall the offending packages, or go for the nuclear option--- empty your Cellar

# and site-packages folders and start over with brewed python from the beginning.

# !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

# If a cleanup is necessary, proceed with extreme caution!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

# !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

# Remove old ROS installations

rm -rf /opt/ros

rm -rf ~/ros_catkin_ws

# Uninstall homebrew

brew install wget

wget https://gist.githubusercontent.com/mxcl/1173223/raw/a833ba44e7be8428d877e58640720ff43c59dbad/uninstall_homebrew.sh

bash uninstall_homebrew.sh

rm uninstall_homebrew.sh

rm -rf /usr/local/Cellar /usr/local/.git && brew cleanup

rm -rf /usr/local/Library/Taps

# Clean up all confusing python packages

sudo rm -rf /Library/Python/2.7/site-packages

sudo rm -rf $(brew --prefix)/lib/python2.7/site-packages

# Now we are ready to start fresh.

# If you haven't already, install XQuartz using the installer from its own website:

# https://xquartz.macosforge.org

# Install Homebrew

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

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

source .zshrc

brew doctor

brew update

# Install brewed python

brew install python

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

# Homebrew taps for prerequisites

brew tap ros/deps

brew tap osrf/simulation

brew tap homebrew/versions

brew tap homebrew/science

# Prerequisites

brew install cmake libyaml lz4 theora

brew install boost --with-python

brew install opencv --with-qt --with-eigen --with-tbb

brew install https://raw.githubusercontent.com/NikolausDemmel/homebrew-simulation/ogre-fixes/ogre1.9.rb --devel

brew install https://raw.githubusercontent.com/NikolausDemmel/homebrew-simulation/ogre-fixes/gazebo2.rb

# Install the ROS infrastructure tools, you may have to run this several times until all python deps are properly installed

pip install -U setuptools rosdep rosinstall_generator wstool rosinstall catkin_tools catkin_pkg bloom empy sphinx

sudo rosdep init

rosdep update

# Download the ROS sources

mkdir ros_catkin_ws && cd ros_catkin_ws

rosinstall_generator desktop_full --rosdistro indigo --deps --tar > indigo.rosinstall

wstool init -j8 src indigo.rosinstall

# Install the ROS dependencies

rosdep install --from-paths src --ignore-src --rosdistro indigo -y --skip-keys ogre --skip-keys gazebo

# Parallel build

sudo mkdir -p /opt/ros/indigo

sudo chown $USER /opt/ros/indigo

catkin config --install --install-space /opt/ros/indigo

catkin build \

-DCMAKE_BUILD_TYPE=Release \

-DPYTHON_LIBRARY=/usr/local/Cellar/python/2.7.9/Frameworks/Python.framework/Versions/2.7/lib/libpython2.7.dylib \

-DPYTHON_INCLUDE_DIR=/usr/local/Cellar/python/2.7.9/Frameworks/Python.framework/Versions/2.7/include/python2.7

#Now you can source your new ros installation

source /opt/ros/indigo/setup.zsh

Solve OS X Prohibited Sign Boot Issue

Veröffentlicht am 13. August 2014 von Julian Tatsch

Recently, I used my MacBook Pro to the end of its battery life and closed it shortly before the battery died. Something must have gone wrong there because when charging and awaking it, the touchpad ceased to work and logon didn’t work. Thus I cold rebooted it and was greeted by a nasty prohibited sign.

OS X Prohibited Sign

Unfortunately, Apple’s own recommendations did not solve the issue, so here is my solution:

Boot into the recovery partition by holding cmd+R at startup and open the terminal.
then

gpt show disk0

1	gpt show disk0

For me this looked like:

start size index contents 0 1 PMBR 1 1 Pri GPT header 2 32 Pri GPT table 34 409606 409640 916361264 1 GPT part - FFFFFFFF-FFFF-FFFF-FFFF-FFFFFFFFFFFF 916770904 1269536 2 GPT part - 48465300-0000-11AA-AA11-00306543ECAC 918040440 136 918040576 59064320 3 GPT part - EBD0A0A2-B9E5-4433-87C0-68B6B72699C7 977104896 131 977105027 32 Sec GPT table 977105059 1 Sec GPT header

Apparently the GUID partition table got corrupted at index 1.

To fix this, first unmount the disk:

diskutil umountDisk /dev/disk0

1	diskutil umountDisk /dev/disk0

Remove the corrupt entry:

gpt remove -b 409640 -s 916361264 -t FFFFFFFF-FFFF-FFFF-FFFF-FFFFFFFFFFFF disk0

1	gpt remove -b 409640 -s 916361264 -t FFFFFFFF-FFFF-FFFF-FFFF-FFFFFFFFFFFF disk0

unmount the disk again:

diskutil umountDisk /dev/disk0

1	diskutil umountDisk /dev/disk0

If the partition was a normal HFS+ partition:

gpt add -b 409640 -s 916361264 -t 48465300-0000-11AA-AA11-00306543ECAC disk0

1	gpt add -b 409640 -s 916361264 -t 48465300-0000-11AA-AA11-00306543ECAC disk0

or for an encrypted partition as mine:

gpt add -b 409640 -s 916361264 -t 53746F72-6167-11AA-AA11-00306543ECAC disk0

1	gpt add -b 409640 -s 916361264 -t 53746F72-6167-11AA-AA11-00306543ECAC disk0

Now your partition table should be fixed. In disk utility, unlock your drive if its encrypted. Then repair the volumes and access rights as usual. For me disk utility still complains about a missing EFI Partition, but this is likely due to my refind boot loader.

Update:

After this procedure my recovery partition showed up on my desktop, you can hide it again with:

sudo chflags hidden &quot;/Volumes/Recovery HD&quot;

1	sudo chflags hidden "/Volumes/Recovery HD"

Spoof wifi MAC address on OSX

Veröffentlicht am 16. Juni 2014 von Julian Tatsch

Antworten

Install spoof-mac via pip:

sudo pip install SpoofMAC

1	sudo pip install SpoofMAC

Set a random MAC address for wifi interface:

sudo spoof-mac randomize wi-fi

1	sudo spoof-mac randomize wi-fi

or set to something specific:

sudo spoof-mac set 00:00:00:00:00:00 wi-fi

1	sudo spoof-mac set 00:00:00:00:00:00 wi-fi

The MAC address should be reset to its burnt in value after a restart or you can reset it manually without restart:

sudo spoof-mac reset wi-fi

1	sudo spoof-mac reset wi-fi

Mac OSX and USB to TTL

Veröffentlicht am 5. Juni 2014 von Julian Tatsch

Antworten

First, make sure you install the appropriate drivers for your USB to TTL converter. In my case, I got the driver here, installed and rebooted. Now accessing a device is as easy as:

screen /dev/tty.usbserial 115200

1	screen /dev/tty.usbserial 115200

Cron Jobs with Mac OSX

Veröffentlicht am 28. Mai 2014 von Julian Tatsch

Antworten

Although launchd is the preferred method of scheduling jobs with Mac OSX, the good old cron job is easier to configure and still works:

sudo touch /etc/crontab
crontab -e

1 2	sudo touch /etc/crontab crontab -e

Press i to go into vim’s insert mode.
Add a shebang if you want to run the jobs with you favorite shell:
#!/bin/zsh
enter your cron job e.g.
0 0 * * * brew update && brew upgrade
where 0 0 * * * stands for minute, hour, day, month, weekday
Press esc to exit vim’s insert mode
type ZZ ( in capital letters )
Verify by using

crontab -l

1	crontab -l

If a cron job fails, you will get a system mail.

Mac OSX System Mail

Veröffentlicht am 28. Mai 2014 von Julian Tatsch

Antworten

If your beloved terminal window greets you with „You have mail.“ you surely want to read it.

mail

mail

In mail just hit enter to read the message, type „delete 1“ to delete the first message or type „quit“ to quit.

Dual Boot Ubuntu 14.04 LTS on Macbook Pro with Filevault 2

Veröffentlicht am 16. Mai 2014 von Julian Tatsch

Although, I prefer working on Mac OSX or using a virtual machine for all my Linux needs, sometimes that just won’t cut it. Especially when working with ROS, a native Ubuntu can help.

Shrink some partition to make space in Mac Disk Utility
Download refind 0.8.1 and unzip
Install refind into the Recovery Partition

cd refind-bin-0.8.1
install.sh --esp --alldrivers

1 2	cd refind-bin-0.8.1 install.sh --esp --alldrivers

Mount the EFI partition and edit refind.conf. Uncomment the line with dont_scan_volumes but leave the parameters empty, otherwise refind wont find your original OSX boot Partition:

diskutil mount EFI
sudo nano /Volumes/EFI/EFI/refind/refind.conf

1 2	diskutil mount EFI sudo nano /Volumes/EFI/EFI/refind/refind.conf

If something doesn’t work, don’t worry, you can still boot OSX by holding the option key at startup.

Now follow these instructions to create a bootable Ubuntu USB Stick. Load it with the refind bootloader and select „Try Ubuntu“. Open a terminal and start the installation without boot-loader:

ubiquity -b

1	ubiquity -b

In the installer choose installation type „Something else“, select the free space created at step one, format as ext4 and mount at /.

Now you should have a working dual boot configuration.

Xbox One Kinect 2.0 for Mac

Veröffentlicht am 25. März 2014 von Julian Tatsch

This is a work in progress entry about getting the Xbox One Kinect 2.0 to run under Mac OSX. Currently, they are quite affordable (~60€) on Ebay because many people don’t like Microsoft invading their privacy in the living room. So get them while they are cheap!

The Kinect 2.0 from the Xbox One seems to be exactly the same as the Kinect for Windows (K4W) v2 dev kit , except for the missing power adapter and USB 3 converter/hub. So we will need to supply 12V from a lab power supply and solder two wires inside the kinect. You can find more here. A firmware update was not necessary for me.

Before starting off, check your usb controller compatibility by typing:

system_profiler SPUSBDataType

1	system_profiler SPUSBDataType

into your console and check with my Kinect 2.0 USB 3.0 controller compatibility table:

Controller Chipset	PCI Device ID	Status
Nec uPD720200	?	working
Intel Pantherpoint	0x1e31	working
Intel Lynxpoint	0x9c31	working
Intel Corporation 7 Series/C210	?	not working

If you are able to get another controller working – please let me know in the comments.

1. cd into a directory where you want to keep libfreenect2 stuff in
2. Install some homebrew dependencies

brew update &amp;&amp; brew upgrade
brew tap homebrew/science
brew install wget cmake opencv git

brew update && brew upgrade

brew tap homebrew/science

brew install wget cmake opencv git

3. Download the libfreenect2 repository

git clone git@github.com:OpenKinect/libfreenect2.git

1	git clone git@github.com:OpenKinect/libfreenect2.git

4. Install a bunch of dependencies

cd ./libfreenect2
sh ./depends/install_mac.sh

1 2	cd ./libfreenect2 sh ./depends/install_mac.sh

5. Build the actual protonect executable

cd ./examples/protonect/
cmake CMakeLists.txt
make &amp;&amp; make install

cd ./examples/protonect/

cmake CMakeLists.txt

make && make install

6. Run the program

./bin/Protonect

1	./bin/Protonect

Keep in mind that some USB ports may work better than others 🙂

Here are some pictures:

Homebrew Spring Cleaning

Veröffentlicht am 23. März 2014 von Julian Tatsch

After a while of using the Mac OSX package manager, a lot of old packages accumulate.
To clean up run

brew cleanup -s —force

1	brew cleanup -s —force

from time to time.

Run AT commands on 3G Modems with OSX

Veröffentlicht am 9. März 2014 von Julian Tatsch

Open a terminal window and find your 3G Modem with

ls -al /dev/tty.*

1

ls -al /dev/tty.*
Run

screen /dev/tty.HUAWEIMobile-Pcui 115200

1

screen /dev/tty.HUAWEIMobile-Pcui 115200
Now you can send AT commands to your 3G Modem e.g. type ATI to get more information about the device or AT^U2DIAG=0 to get rid of the annoying flashdrive of Huawei modems. Other useful AT commands for Huawei modems can be found here.
To close the session, press the key combination Ctrl+a and then Ctrl+\

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Schlagwort-Archive: Mac

How to install ROS Indigo on OS X Yosemite

Solve OS X Prohibited Sign Boot Issue

Spoof wifi MAC address on OSX

Mac OSX and USB to TTL

Cron Jobs with Mac OSX

Mac OSX System Mail

Dual Boot Ubuntu 14.04 LTS on Macbook Pro with Filevault 2

Xbox One Kinect 2.0 for Mac

Homebrew Spring Cleaning

Run AT commands on 3G Modems with OSX