mikepurvis · smnogar · Sep 22, 2017 · Sep 22, 2017 · Sep 22, 2017 · Sep 23, 2017
diff --git a/.gitignore b/.gitignore
@@ -1 +1,4 @@
 *_ws
+.DS_Store
+/tango-icon-theme-0.8.90
+/tango-icon-theme-0.8.90.tar.gz
diff --git a/README.md b/README.md
@@ -1,24 +1,67 @@
-ros-install-osx   [![Build Status](https://travis-ci.org/mikepurvis/ros-install-osx.svg?branch=master)](https://travis-ci.org/mikepurvis/ros-install-osx)
+ros-install-osx   
 ===============
 
-This repo aims to maintain a usable, scripted, up-to-date installation procedure for
-[ROS](http://ros.org), currently Lunar. The intent is that the `install` script may
-be executed on a El Capitan or newer machine and produce a working desktop_full
-installation, including RQT, rviz, and Gazebo.
+* This commonly breaks depending on what gets pushed over brew and whether the corresponding packages update deprecated code. Efforts have been made to pick out working versions of specific packages, but nothing is guaranteed.
 
-This is the successor to my [popular gist on the same topic][1].
+This repo aims to maintain a usable, scripted, up-to-date installation procedure for [ROS](http://ros.org), currently melodic. The intent is that the `install` script may be executed on a Catalina or newer machine and produce a working desktop_full  installation, including RQT, rviz, and Gazebo.
 
-[1]: https://gist.github.com/mikepurvis/9837958
+This is the successor to the [popular gist on the same topic][1]. Also thanks to [Boris Gromov](https://gist.github.com/bgromov) for [his helpful gist](https://gist.github.com/bgromov/23a74bbe846d965964b150080cb2d574).
 
+## Current Status
+
+**Note: This should work as of Jan 22, 2021 on macOS Big Sur 11.1**. **Only ROS Noetic is supported.**
+
+Required software versions (installed via script):
+
+* **Boost**: 1.73
+* **Opencv**: 4.5
+* **Python**: 3.8
 
 Usage
 -----
 
-```shell
-git clone https://github.com/mikepurvis/ros-install-osx.git
-cd ros-install-osx
-./install
-```
+The `install` script should just work for most users, although you may need to run it multiple times. Run these steps first to have a better chance of success:
+
+1. [Disable system integrity protection](https://www.imore.com/how-turn-system-integrity-protection-macos).
+
+2. If on Catalina, set your terminal back to bash. This is very helpful for building software via brew, and roslaunch will not autocomplete using zsh.
+
+   ```bash
+   chsh -s /bin/bash
+   ```
+
+3. Attempting to clone this repo onto your machine should trigger the xcode command line tools to download.
+
+   ```bash
+   xcode-select --install
+   git clone https://github.com/smnogar/ros-install-osx.git
+   cd ros-install-osx
+   ```
+
+4. Install brew
+
+   ```bash
+   ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
+   echo export PATH='/usr/local/bin:$PATH' >> ~/.bash_profile
+   source ~/.bash_profile
+   brew doctor
+   ```
+
+5. Install xquartz
+
+   ```bash
+   brew cask install xquartz
+   ```
+
+6. Run: `./install`
+
+7. After it completes successfully, add the following to your bash_profile:
+
+   ```bash
+   cat bash_profile_recommendations.sh >> ~/.bash_profile
+   ```
+
+
 
 Note that if you do not yet have XQuartz installed, you will be forced to log out and
 in after that installation, and re-run this script.
@@ -36,23 +79,6 @@ installed, rosdep is already installed and initialized, and you set the `ROS_INS
 environment variable to a path which already exists and you have write access to.
 
 
-Step by Step
-------------
-
-The `install` script should just work for most users. However, if you run into trouble,
-it's a pretty big pain to rebuild everything. Note that in this scenario, it may make
-sense to treat the script as a list of instructions, and execute them one by one,
-manually.
-
-If you have a build fail, for example with rviz, note that you can modify the `catkin build`
-line to start at a particular package. Inside your `indigo_desktop_full_ws` dir, run:
-
-    catkin build --start-with rviz
-
-If you've resolved whatever issue stopped the build previously, this will pick up where
-it left off.
-
-
 ## Troubleshooting
 
 ### Python and pip packages
@@ -89,7 +115,7 @@ If you are getting permission errors when you `sudo uninstall` pip packages,
 see [Issue #11](https://github.com/mikepurvis/ros-install-osx/issues/11) and
 [this StackOverflow Q&A](http://stackoverflow.com/a/35051066/2653356).
 
-### El Capitan support
+### El Capitan (and newer) support
 
 The `install` script may not work as smoothly in OS X El Capitan.
 Here are some pointers, tips, and hacks to help you complete the installation.
@@ -128,3 +154,133 @@ have [System Integrity Protection](https://support.apple.com/en-us/HT204899) ena
 The installation script should have detected that and *suggested* a quick fix.
 Please refer to the very last section of 
 [`install`](https://github.com/mikepurvis/ros-install-osx/blob/master/install)
+
+**It is strongly recommended to disable SIP**
+
+#### Assorted notes
+
+Below are assorted tips that I have compiled for fixing any issues that can crop up.
+
+* It is basically impossible to get indigo to work on macOS sierra
+
+    * This has to do with home-brew dropping qt4 support: https://github.com/mikepurvis/ros-install-osx/issues/63
+
+* rosdep —skip-keys command is useful for resolving dependencies
+
+    * rosdep check --from-paths src --ignore-src --rosdistro kinetic --skip-keys geographiclib --skip-keys geographiclib-tools
+
+* Indigo still doesn’t work using qt@4
+
+    * Can’t detect correct qt installation
+
+* Important steps to get kinetic to work (all of these are critical):
+    * Make sure using brew python/pip
+    * Rviz needs ogre1.9
+
+* Gazebo8
+
+    * Uses Ogre1.9
+
+* High Sierra
+    * Make sure to set `ROS_MASTER_URI` to the actual machine name
+    * Otherwise significant delays exist in running especially python based commands
+
+* If having QT errors compiling look at the end of this thread:
+    * https://github.com/Homebrew/legacy-homebrew/issues/29938
+    * Basically add path
+
+* Command for updating pip if getting weird python errors
+
+    * pip freeze --local | grep -v '^\-e' | cut -d = -f 1  | xargs -n1 pip install -U
+
+* If you start getting weird errors with accessing too many files, try:
+  * `ulimit -n 4096`
+  * See [here](https://superuser.com/questions/433746/is-there-a-fix-for-the-too-many-open-files-in-system-error-on-os-x-10-7-1) for details
+  * or
+  * `sudo sysctl -w kern.maxfiles=99999`
+  * `sudo sysctl -w kern.maxfilesperproc=99999`
+  * `ulimit -n 65536`
+
+* [If running out of pty devices](https://codybonney.com/increase-the-max-number-of-ptys-on-os-x-10-8-3/)
+
+  * `sudo sysctl -w kern.tty.ptmx_max=999`
+
+* image_publisher currently fails. [See this fix](https://github.com/ros-perception/image_pipeline/pull/304)
+
+* For Gazebo plugins, don't forget to setup `/opt/ros/kinetic/lib` in `GAZEBO_PLUGIN_PATH` and to export it into env
+
+* mavros/mavlink
+
+  * [workaround to get mavros to compile (endian.h) errors] (https://github.com/mavlink/mavros/issues/851)
+
+* If errors are encountered such as:
+
+    ```
+    Errors     << qt_gui_cpp:cmake /Users/steve/Documents_local/temp/kinetic/logs/qt_gui_cpp/build.cmake.000.log                        
+    CMake Error at /Users/steve/Documents/ARL/Snapdragon/ros-install-osx/kinetic_desktop_full_ws/src/qt_gui_core/qt_gui_cpp/src/qt_gui_cpp/CMakeLists.txt:3 (find_package):
+      By not providing "FindQt5Widgets.cmake" in CMAKE_MODULE_PATH this project
+      has asked CMake to find a package configuration file provided by
+      "Qt5Widgets", but CMake did not find one.
+
+      Could not find a package configuration file provided by "Qt5Widgets" with
+      any of the following names:
+
+        Qt5WidgetsConfig.cmake
+        qt5widgets-config.cmake
+
+      Add the installation prefix of "Qt5Widgets" to CMAKE_PREFIX_PATH or set
+      "Qt5Widgets_DIR" to a directory containing one of the above files.  If
+      "Qt5Widgets" provides a separate development package or SDK, be sure it has
+      been installed.
+    ```
+
+    * It means qt or pyqt are not correctly installed or in the path. Try the various relevant lines in the installation script such as:
+
+      * 
+
+        ```
+        pushd /usr/local/share/sip
+          if [ ! -e PyQt5 ]; then
+            ln -s Qt5 PyQt5
+          fi
+          popd
+        ```
+
+      * `export PATH=$(pwd)/shim:$PATH`
+
+      * `brew link qt --force `
+
+      * `export PATH="/usr/local/opt/qt/bin:$PATH" `
+
+* Python Crypto errors
+
+    * ```
+        pip uninstall Crypto
+        pip uninstall pycrypto
+        pip install pycrypto
+        ```
+
+* If having issues with packages not finding terminal_color, you need to up catkin_pkg_modules
+
+	```bash
+	sudo pip install --upgrade catkin_pkg_modules
+	```
+
+* If the standard library is missing: such as
+
+  ```bash
+   error: no member named 'isfinite' in namespace 'std'; did you mean 'finite'?
+  ```
+
+  Run the following command (from [here](https://github.com/PointCloudLibrary/pcl/issues/2601))
+
+  ```bash
+  #Check the current sdk
+  xcrun --show-sdk-path
+
+  #Change sdk
+  sudo xcode-select -s /Library/Developer/CommandLineTools          #Using CommandLineTools SDK
+  sudo xcode-select -s /Applications/Xcode.app/Contents/Developer   #Using XCode.app SDK
+  ```
+
+
diff --git a/bash_profile_recommendations.sh b/bash_profile_recommendations.sh
@@ -0,0 +1,6 @@
+
+# recommended bash_profile lines for ROS
+export PYTHONPATH=/usr/local/lib/python3.8/site-packages
+export PYTHONWARNINGS=ignore::yaml.YAMLLoadWarning
+export ROS_PYTHON_VERSION=3
+export PATH="/usr/local/opt/python3.8/libexec/bin:$PATH"