1 1 00:00:01,070 --> 00:00:05,190 Let's learn how to install ROS 2 on Mac OS. 2 2 00:00:05,580 --> 00:00:11,820 We will be installing ROS 2 Foxy on Mac OS Mojave, which 3 3 00:00:11,830 --> 00:00:14,520 is Mac OS version 10.14. 4 4 00:00:15,020 --> 00:00:20,610 Note that ROS 2 Foxy only officially supports Mac OS 10.14 5 5 00:00:20,970 --> 00:00:25,060 so other Mac OS versions may not be compatible. 6 6 00:00:25,280 --> 00:00:29,330 You may be able to use ROS 2 on the system, but you may 7 7 00:00:29,330 --> 00:00:32,340 run into issues along the way or may need to build ROS2 8 8 00:00:32,350 --> 00:00:35,220 from Source to get it work on your particular version. 9 9 00:00:35,400 --> 00:00:39,240 Note that this computer has a brand new install of Mac OS 10 10 00:00:39,240 --> 00:00:43,110 10.14 with only the default programs installed on it. 11 11 00:00:43,220 --> 00:00:46,790 Here on my dock, you can see I have a System Preferences 12 12 00:00:46,910 --> 00:00:57,310 notification. If I were to click on it, we would find my 13 13 00:00:57,320 --> 00:00:59,680 Mac is letting me know I can upgrade my OS. 14 14 00:01:00,260 --> 00:01:04,459 I will not upgrade as I may run into issues with ROS later 15 15 00:01:04,470 --> 00:01:05,060 down the line 16 16 00:01:05,069 --> 00:01:10,340 if I am not using Mac OS version 10.14. So to make it so 17 17 00:01:10,350 --> 00:01:13,130 that this notification is not constantly bugging me, I will 18 18 00:01:13,140 --> 00:01:18,230 simply remove it from Dock. If you have a newer version of 19 19 00:01:18,240 --> 00:01:21,730 Mac and still want to learn ROS without worrying about OS 20 20 00:01:21,730 --> 00:01:25,810 support, you may want to use a virtual machine, so feel free 21 21 00:01:25,820 --> 00:01:29,230 to go to the video on installing a virtual machine, where we 22 22 00:01:29,240 --> 00:01:32,560 will learn how to create in a Ubuntu virtual machine, which 23 23 00:01:32,570 --> 00:01:36,250 is Unix based like Mac and has similar terminal commands. 24 24 00:01:36,260 --> 00:01:40,240 With all that out of the way, Let's get to installing ROS 2. 25 25 00:01:40,300 --> 00:01:45,620 Open a browser and navigate to the ROS 2 Foxy installation 26 26 00:01:45,680 --> 00:01:50,480 page. We will be installing Mac OS from the Binary Packages 27 27 00:01:50,490 --> 00:01:54,010 section. Please be careful as to not Select in the build 28 28 00:01:54,020 --> 00:01:54,910 from Source section, 29 29 00:01:55,120 --> 00:01:58,300 As building ROS 2 from Source can take several hours to 30 30 00:01:58,310 --> 00:02:02,200 compile. So from the list I will Select Mac OS. 31 31 00:02:02,920 --> 00:02:06,010 Here we can see a list of what we will be doing to install 32 32 00:02:06,020 --> 00:02:06,550 ROS 2. 33 33 00:02:06,840 --> 00:02:10,860 The first thing we will need to do is install our prerequisites. 34 34 00:02:13,570 --> 00:02:17,540 Note that these are terminal commands, so we'll need to go 35 35 00:02:17,550 --> 00:02:20,940 ahead and open up a terminal, so go to the search bar on 36 36 00:02:20,950 --> 00:02:21,570 the top right. 37 37 00:02:22,600 --> 00:02:31,870 I'm going to search up terminal now. 38 38 00:02:32,020 --> 00:02:35,260 By default, the terminal has a white background with a black 39 39 00:02:35,290 --> 00:02:38,630 text. For the purposes of these videos, I'm actually going 40 40 00:02:38,640 --> 00:02:41,570 to change the color scheme to a black background with white 41 41 00:02:41,580 --> 00:02:44,300 text, which is generally easier for your eyes to look at. 42 42 00:02:44,560 --> 00:02:48,250 So go up to terminal on the top left bar, select Preferences 43 43 00:02:50,220 --> 00:02:55,560 and under the Profile tab I will Select the Profile color setting, 44 44 00:02:56,300 --> 00:02:58,830 and here you can see an example of that. 45 45 00:02:59,040 --> 00:03:03,060 This is much better, although the semi transparent background 46 46 00:03:03,070 --> 00:03:06,420 can be distracting, so I'll go ahead and adjust the color 47 47 00:03:06,430 --> 00:03:19,350 so the opacity is 1. Once done, I can close this window 48 48 00:03:19,360 --> 00:03:23,310 and in my profile window, set the Pro version as the default. 49 49 00:03:24,530 --> 00:03:27,060 Now, every time I open a new terminal. 50 50 00:03:27,070 --> 00:03:28,230 It will have this theme. 51 51 00:03:33,120 --> 00:03:36,730 Besides just coloring, there are more steps we need to take 52 52 00:03:36,740 --> 00:03:37,810 to configure our terminal. 53 53 00:03:37,960 --> 00:03:41,740 Those of you who are used to developing on Linux are familiar 54 54 00:03:41,750 --> 00:03:45,520 with a ".bashrc" file, which we use to source and configure 55 55 00:03:45,530 --> 00:03:46,660 our terminal environment. 56 56 00:03:46,720 --> 00:03:50,710 You may not have a bash RC file by default on your Mac system. 57 57 00:03:50,840 --> 00:03:55,460 You can check by running the "LS -la" command in your home directory 58 58 00:03:55,740 --> 00:03:58,980 which you will be at by default when first opening the terminal. 59 59 00:03:59,120 --> 00:04:04,640 Here you can see I do not have a ".bashrc" file, nor a file 60 60 00:04:04,670 --> 00:04:08,030 name bash profile, so I will have to create them. 61 61 00:04:08,040 --> 00:04:10,070 I can do that with the "Touch" command. 62 62 00:04:12,020 --> 00:04:18,459 Now if I run that same command, I now have the files bashrc 63 63 00:04:18,610 --> 00:04:19,540 and bash profile. 64 64 00:04:20,070 --> 00:04:24,530 Now we need to edit our bash profile which I recommend doing 65 65 00:04:24,540 --> 00:04:25,460 with a code editor. 66 66 00:04:25,470 --> 00:04:29,920 I do not have one installed since this is a new Mac OS install, 67 67 00:04:29,930 --> 00:04:34,110 so I'll just use the open command to open the file in a text 68 68 00:04:34,120 --> 00:04:44,990 editor. Now I can type the following code snip it in which 69 69 00:04:45,000 --> 00:04:48,820 will look for the Bash RC file and source it every time we 70 70 00:04:48,830 --> 00:04:49,840 open a new terminal. 71 71 00:04:50,490 --> 00:04:54,340 Note that the Mac text editor has spelling correcting on 72 72 00:04:54,350 --> 00:04:58,380 by default, so I will have to fix these to be lowercase as 73 73 00:04:58,390 --> 00:05:06,290 I had originally typed them. And I can go ahead and save the 74 74 00:05:06,300 --> 00:05:11,210 file. To test that this works, 75 75 00:05:11,400 --> 00:05:21,090 I will open our Bash RC file and Echo "Bash RC sourced". 76 76 00:05:21,580 --> 00:05:23,930 Now I'll go ahead and save this. 77 77 00:05:24,660 --> 00:05:28,500 Now if I open a new terminal, you can see our bashrc source 78 78 00:05:28,500 --> 00:05:30,030 message prints to the screen. 79 79 00:05:30,220 --> 00:05:33,460 If you do not see this message, check the spelling of the 80 80 00:05:33,470 --> 00:05:35,050 code Snippet and your file names. 81 81 00:05:35,740 --> 00:05:39,770 Okay, with our terminal configured, Let's get back to installing 82 82 00:05:39,780 --> 00:05:44,640 ROS. We will be using a program called Brew to help us install 83 83 00:05:44,640 --> 00:05:48,210 packages. We can check if we have it installed by going into 84 84 00:05:48,220 --> 00:05:51,760 our terminal and typing in through on this computer. 85 85 00:05:51,770 --> 00:05:54,700 I do not have it installed and we get a command not found 86 86 00:05:54,710 --> 00:05:58,210 error. So I will right click on this link and open it in 87 87 00:05:58,220 --> 00:06:06,360 a new tab right here on the home screen. 88 88 00:06:06,370 --> 00:06:08,400 We are given a terminal command to run. 89 89 00:06:08,640 --> 00:06:13,230 You will copy it and paste it into our terminal and hit enter. 90 90 00:06:13,760 --> 00:06:17,150 We don't have the prompt to put in our password since we're 91 91 00:06:17,160 --> 00:06:18,170 installing a new program. 92 92 00:06:18,320 --> 00:06:19,790 So go ahead and put that in. 93 93 00:06:20,150 --> 00:06:24,530 It won't show on the screen and we will press Enter to continue. 94 94 00:06:25,300 --> 00:06:29,460 Note that Brew may take a while to install based on your 95 95 00:06:29,470 --> 00:06:32,960 Internet speed and computer processor, so feel free to pause 96 96 00:06:32,970 --> 00:06:36,320 the video now and come back once the install finishes. 97 97 00:06:37,250 --> 00:06:38,250 Alright. 98 98 00:06:38,260 --> 00:06:41,540 So Brew has installed on our system and we can test it out 99 99 00:06:41,550 --> 00:06:43,070 by typing Brew help. 100 100 00:06:44,380 --> 00:06:47,540 And here we can see the documentation for Brew. 101 101 00:06:47,740 --> 00:06:52,260 Go ahead and clear back to our browser. 102 102 00:06:52,270 --> 00:06:56,250 We will be using Brew to install several different dependencies 103 103 00:06:56,260 --> 00:06:57,090 and prerequisites. 104 104 00:06:57,560 --> 00:07:01,290 The first thing we're going to install is Python version 105 105 00:07:01,300 --> 00:07:05,280 3.8, so copy that and paste it into our terminal. 106 106 00:07:09,860 --> 00:07:13,560 We will continue to go down this list of things to install. 107 107 00:07:13,800 --> 00:07:17,280 Note that the lines with Pound symbols are comments explaining 108 108 00:07:17,290 --> 00:07:19,770 the command, and will not do anything within the terminal. 109 109 00:07:20,140 --> 00:07:23,750 So go ahead and unlink Python. 110 110 00:07:27,340 --> 00:07:32,730 I did not have a previous version of Python link, so I received 111 111 00:07:32,740 --> 00:07:33,180 an error. 112 112 00:07:33,190 --> 00:07:36,390 I can simply ignore it and continue on with the rest of the 113 113 00:07:36,400 --> 00:07:37,260 commands in this list. 114 114 00:07:38,830 --> 00:07:42,950 These downloads will take a while so I will go ahead and 115 115 00:07:42,960 --> 00:07:46,310 speed up the video just so you can see what my terminal output 116 116 00:07:46,320 --> 00:07:48,080 looked like throughout the installation. 117 117 00:07:48,300 --> 00:07:50,340 Jump to this time stamp. 118 118 00:07:50,350 --> 00:07:53,010 If you want to get to the next phase of the installation 119 119 00:08:19,470 --> 00:08:23,530 next we will need to disable System Integrity Protection, 120 120 00:08:23,880 --> 00:08:27,360 which allows processes to inherit environment dynamic linking 121 121 00:08:27,370 --> 00:08:31,670 libraries. Click on the link takes us to an Apple Instructions 122 122 00:08:31,730 --> 00:08:39,039 page. We can check if SIP is enabled on our computer by running 123 123 00:08:39,049 --> 00:08:42,159 the following command in the terminal, so go ahead and click 124 124 00:08:42,169 --> 00:08:47,330 the screen and run CSR util status. 125 125 00:08:48,920 --> 00:08:53,920 Mine is enabled so I will need to disable it. In order to 126 126 00:08:53,930 --> 00:08:54,640 disable SIP, 127 127 00:08:55,000 --> 00:08:58,750 we have to restart our Mac computer and hold command R during 128 128 00:08:58,750 --> 00:09:01,580 startup. So Let's go ahead and do that now. 129 129 00:09:19,410 --> 00:09:21,400 This is the screen you get. 130 130 00:09:21,410 --> 00:09:25,440 If you held "command R" during startup. From here I'm going 131 131 00:09:25,450 --> 00:09:35,700 to Select English, and then we're going to go to the Utilities 132 132 00:09:35,710 --> 00:09:38,000 tab at the top, and Select 'Terminal'. 133 133 00:09:39,800 --> 00:09:45,200 We can then run the following command to disable SIP. 134 134 00:09:46,610 --> 00:09:49,500 Now we can go ahead and restart the computer. 135 135 00:09:49,680 --> 00:09:53,730 I will just type in reboot in the terminal to do so. 136 136 00:10:00,680 --> 00:10:04,820 We are now going to actually download and install ROS. 137 137 00:10:05,180 --> 00:10:09,740 We will click on the link to get to the Releases page and 138 138 00:10:09,750 --> 00:10:12,680 we will be looking for the latest version of ROS Foxy. 139 139 00:10:13,200 --> 00:10:16,980 In this case, the latest version for me is ROS 140 140 00:10:17,040 --> 00:10:19,620 Foxy Patch release four. 141 141 00:10:19,880 --> 00:10:23,330 If a newer version is available, feel free to download that 142 142 00:10:23,340 --> 00:10:23,810 one instead. 143 143 00:10:24,410 --> 00:10:28,650 Once here we will click on the Assets Dropdown and Select 144 144 00:10:28,660 --> 00:10:30,780 the Mac OS version of ROS Foxy. 145 145 00:10:31,200 --> 00:10:34,650 This may take some time to download based on your Internet 146 146 00:10:34,660 --> 00:10:37,910 speed, so feel free to pause the video and come back once 147 147 00:10:37,920 --> 00:10:38,960 you finish your download. 148 148 00:10:39,040 --> 00:10:43,030 All right, once it finishes downloading, Let's head back 149 149 00:10:43,040 --> 00:10:48,100 to our instructions page and here we can see we need to unpack 150 150 00:10:48,110 --> 00:10:49,180 this ROS installation. 151 151 00:10:49,420 --> 00:11:00,330 So first off we're going to make a new directory... change into 152 152 00:11:00,340 --> 00:11:06,390 that directory... and then unpack the ROS 2 download. 153 153 00:11:08,950 --> 00:11:11,960 Alright, if you just tried to copy and paste that command 154 154 00:11:11,970 --> 00:11:14,980 and like I just did and notice that you're saying error opening 155 155 00:11:14,990 --> 00:11:18,280 archive fail to open that's because this is a generic command 156 156 00:11:18,290 --> 00:11:20,950 and we'll have to make sure we get the correct name on our 157 157 00:11:20,960 --> 00:11:25,000 particular download file, so I'll just run the command "tar XF 158 158 00:11:25,750 --> 00:11:31,470 Tilde slash", which means our home directory... "downloads" and 159 159 00:11:31,480 --> 00:11:33,240 then "ROS 2 release". 160 160 00:11:33,270 --> 00:11:36,450 And if I hit the tab button, it'll auto complete for us. 161 161 00:11:36,600 --> 00:11:40,380 So it gives us the correct distribution, date, and the rest 162 162 00:11:40,390 --> 00:11:43,600 of the name of the file and the rest of the name of the file 163 163 00:11:43,610 --> 00:11:44,440 that we just downloaded. 164 164 00:11:44,480 --> 00:11:46,010 So I'll go ahead and hit enter. 165 165 00:11:48,580 --> 00:11:55,600 If we head back to our installation instructions we can see 166 166 00:11:55,610 --> 00:11:59,560 in order to use ROS2, we must source our environment using 167 167 00:11:59,570 --> 00:12:00,850 the source command. 168 168 00:12:00,860 --> 00:12:05,110 You will source it in our ROS 2 Foxy folder... 169 169 00:12:05,590 --> 00:12:10,480 ROS 2 OSX... set up dot bash... and hit enter. 170 170 00:12:11,360 --> 00:12:15,970 After sourcing my ROS "set up dot bash" file, I get a warning 171 171 00:12:15,980 --> 00:12:19,580 saying the Connext directory is not valid, so Connext will 172 172 00:12:19,590 --> 00:12:20,300 not be available. 173 173 00:12:20,560 --> 00:12:24,620 Connext has to do with utilizing different DDS communication 174 174 00:12:24,630 --> 00:12:28,990 methods. The default DDS communication for ROS2 does not 175 175 00:12:29,000 --> 00:12:32,740 need Connext, so you don't have to worry about this warning. 176 176 00:12:32,900 --> 00:12:37,130 It is worth noting that ROS is now installed and we can 177 177 00:12:37,140 --> 00:12:38,660 go about running the demo nodes. 178 178 00:12:39,140 --> 00:12:42,430 But before we do that, Let's take care of some issues you 179 179 00:12:42,440 --> 00:12:46,300 might experience along the lines using ROS 2 on Mac OS. 180 180 00:12:47,680 --> 00:12:51,770 The first issue you may run into is some of the Python modules 181 181 00:12:51,780 --> 00:12:55,530 we installed through Brew may not link properly to our Python. 182 182 00:12:56,400 --> 00:12:59,850 Here I tried running a ROS terminal command but ran into 183 183 00:12:59,860 --> 00:13:03,320 errors saying the modules do not exist so we will have to 184 184 00:13:03,330 --> 00:13:05,300 install them manually through pip3. 185 185 00:13:05,910 --> 00:13:13,970 These modules include ifcfg netifaces, NumPy, and pyyaml, 186 186 00:13:14,210 --> 00:13:17,960 In order to use the ROS 2 terminal commands. 187 187 00:13:18,080 --> 00:13:20,630 Here you can see each instance where I try to use a ROS 188 188 00:13:20,640 --> 00:13:23,350 terminal command, but I was unable to use it because I did not have 189 189 00:13:23,360 --> 00:13:24,790 one of these dependencies installed. 190 190 00:13:27,820 --> 00:13:32,680 If you want to use the RQT visualization tool, you will also 191 191 00:13:32,690 --> 00:13:39,480 need to install PyQt5, PySide2, catkin_pkg, pydot, 192 192 00:13:39,570 --> 00:13:41,850 and PyQtGraph. 193 193 00:13:42,180 --> 00:13:45,750 And here you can see where I try to use each QT instance 194 194 00:13:45,930 --> 00:13:50,210 and where my errors popped up after installing all those 195 195 00:13:50,220 --> 00:13:52,970 dependencies, my RQT works as expected. 196 196 00:13:54,050 --> 00:13:55,440 Alright with that. 197 197 00:13:55,450 --> 00:13:57,270 Out of the way, Let's start with the new terminal. 198 198 00:13:57,300 --> 00:14:00,660 I'll go ahead and source my ROS installation again. 199 199 00:14:03,350 --> 00:14:06,690 Again, we can ignore this warning so I'll go ahead and clear 200 200 00:14:06,700 --> 00:14:09,690 the screen and with that our ROS installation should be 201 201 00:14:09,700 --> 00:14:10,830 active within our terminal. 202 202 00:14:11,100 --> 00:14:13,830 We can verify this by printing out our terminal environment 203 203 00:14:13,860 --> 00:14:17,250 variables and here we can see the environment variables for 204 204 00:14:17,260 --> 00:14:18,270 our ROS installation. 205 205 00:14:18,460 --> 00:14:22,480 Now one thing to note is we will need to source the setup 206 206 00:14:22,490 --> 00:14:25,230 bash script every time we open a new terminal. 207 207 00:14:25,240 --> 00:14:28,690 Instead of having to do that, Let's place this command in 208 208 00:14:28,700 --> 00:14:30,760 our bashrc file we created earlier. 209 209 00:14:30,820 --> 00:14:34,270 That way it will run each time the terminal open. 210 210 00:14:34,770 --> 00:14:38,290 You can also go ahead and get rid of the Echo bash source 211 211 00:14:38,300 --> 00:14:39,490 that we had created earlier. 212 212 00:14:39,500 --> 00:14:40,870 So I'll go ahead and delete that. 213 213 00:14:42,500 --> 00:14:46,290 And right below our export, we can just put in the same command 214 214 00:14:46,500 --> 00:14:48,240 that we had in our terminal. 215 215 00:14:51,620 --> 00:14:54,120 Which sources or ROS installation. 216 216 00:15:00,190 --> 00:15:03,710 And since we always get a warning message every time we source, 217 217 00:15:03,980 --> 00:15:07,280 I'll just go ahead and have it clear the screen after sourcing. 218 218 00:15:07,880 --> 00:15:10,490 Go ahead and save the file. 219 219 00:15:13,880 --> 00:15:18,050 Now, every time we open a new terminal our ROS 2 installation 220 220 00:15:18,110 --> 00:15:18,980 will be sourced. 221 221 00:15:19,310 --> 00:15:21,500 I can test that out here in the new terminal. 222 222 00:15:26,910 --> 00:15:31,450 We can indeed see our ROS version is two, and our ROS is 223 223 00:15:31,460 --> 00:15:33,370 Ros Foxy as it was in our other terminal. 224 224 00:15:33,420 --> 00:15:36,060 With this out of the way, we can go ahead and run the sample 225 225 00:15:36,070 --> 00:15:39,230 nodes that are within the installation instructions. I'll 226 226 00:15:39,240 --> 00:15:40,400 go ahead and clear my screen. 227 227 00:15:43,000 --> 00:15:49,030 The first one is a ROS publisher, in this case called Talker, 228 228 00:15:49,560 --> 00:15:53,480 so I'll go ahead and run it using the ROS 2 run command and 229 229 00:15:53,490 --> 00:15:54,080 hit enter. 230 230 00:15:55,100 --> 00:15:58,400 And here we can see publishing Hello World, and a counter 231 231 00:15:58,410 --> 00:15:59,090 which increments. 232 232 00:15:59,220 --> 00:16:04,380 We can then run this subscriber node called Listener in a 233 233 00:16:04,380 --> 00:16:09,090 different terminal, and you see it will copy the Hello World 234 234 00:16:09,100 --> 00:16:11,910 messages which are coming over the ROS DDS services. 235 235 00:16:15,320 --> 00:16:19,430 It doesn't seem like much, but these two nodes are communicating 236 236 00:16:19,440 --> 00:16:22,910 over the ROS 2 framework in which the Talker node is publishing 237 237 00:16:22,920 --> 00:16:26,420 values over ROS, and the subscriber node is receiving those 238 238 00:16:26,430 --> 00:16:28,130 messages coming over the topic. 239 239 00:16:28,320 --> 00:16:31,860 We can stop these nodes by clicking on the corresponding 240 240 00:16:31,870 --> 00:16:34,860 terminal and hitting the control C keystroke. 241 241 00:16:37,090 --> 00:16:38,090 Congratulations. 242 242 00:16:38,220 --> 00:16:42,630 You have successfully installed ROS2 on Your Mac OS machine.