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ROS-GZ Modified for MAC OS (Apple Silicon)

  • ROS2 Jazzy - Gazebo Harmonic

Prerequisites

  • Install ROS2 Jazzy and Gazebo Harmonic with (https://github.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon)

    /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/IOES-Lab/ROS2_Jazzy_MacOS_Native_AppleSilicon/main/install.sh)"

  • Download source codes

    mkdir -p ~/ros_gz_ws/src && cd ~/ros_gz_ws/src
git clone https://github.com/IOES-Lab/ros_gz_for_mac
git clone https://github.com/rudislabs/actuator_msgs.git
git clone -b 2.0.4 https://github.com/swri-robotics/gps_umd.git 
git clone -b release/jazzy/vision_msgs/4.1.1-3 https://github.com/ros2-gbp/vision_msgs-release.git vison_msgs

# Remove failing code
rm -rf gps_umd/gpsd_client gps_umd/gps_umd gps_umd/gps_tools
# Modify code to avoid compile fail
nano $HOME/gz_harmonic/install/lib/cmake/gz-msgs10/gz-msgs10-targets.cmake
# Find TINYXML2::TINYXML2 and remove it (keep original commented out!)
# (search text with Ctrl+W)

  • Compile

    cd ~/ros_gz_ws
export GZ_CONFIG_PATH=$HOME/gz_harmonic/install/bin/gz
export GZ_VERSION=harmonic
colcon build --merge-install --cmake-args \
    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
    -DCMAKE_MACOSX_RPATH=FALSE \
    -DCMAKE_CXX_FLAGS='-std=c++17' \
    -DCMAKE_OSX_ARCHITECTURES=arm64 \
    -DBUILD_TESTING=OFF \
    -DCMAKE_BUILD_TYPE=Release

  • Post

    # Put it back
nano $HOME/gz_harmonic/install/lib/cmake/gz-msgs10/gz-msgs10-targets.cmake
# Put back TINYXML2::TINYXML2

# Source
source install/setup.zsh
# add to $HOME/ros2_jazzy/activate_ros