Mac OS X Installation Instructions (10.6 or later)
SVN Based Install (download-and-compile)
Pre Install
Install Apple's Developer Tools: http://developer.apple.com/Tools
Install MacPorts http://www.macports.org/install.php
If you have problems, you may find help at ROS/OSX
These instructions rely on MacPorts' Python 2.6 ("py26") libraries. It is possible to manually install easy_install versions of the same libraries and use the default Python 2.6 interpreter that comes with Snow Leopard.
sudo port -v selfupdate sudo port install wget cmake python26 py26-yaml python_select sudo python_select python26
On Mac OS X 10.6, the following additional step might be needed: sudo easy_install -U pyyaml
In order for the compiler (and rosboost-cfg) to find the correct versions of your libraries, you'll need something like this in your .bashrc if you don't have it already:
export CPATH=/opt/local/include export LIBRARY_PATH=/opt/local/lib export DYLD_FALLBACK_LIBRARY_PATH=$DYLD_FALLBACK_LIBRARY_PATH:/opt/local/lib export PATH=/opt/local/bin:$PATH
If your .profile doesn't already source .bashrc, you'll also need to do that:
echo 'source .bashrc' >> .profile`
rosinstall
The following lines will download the ROS source code using the rosinstall tool, and bootstrap the installation. The installation downloads all ROS stacks in subdirectories inside the ~/ros directory, one subdirectory for each stack in the rosinstall file.
First install rosinstall:
sudo easy_install -U rosinstall
There are many different libraries and tools in ROS. We provided four default configurations to get you started.
Desktop-Full Install: (Recommended): ROS Full, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception
rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=unstable&variant=desktop-full&overlay=no"
Desktop Install: : ROS Full, rviz, and robot-generic libraries
rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=unstable&variant=desktop&overlay=no"
ROS-Full: ROS package, build, communication, and graphical tools.
rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=unstable&variant=ros-full&overlay=no"
ROS-Base: (Bare Bones) ROS package, build, and communication libraries.
rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=unstable&variant=ros-base&overlay=no"
NOTE: the instructions above download all stacks inside the ~/ros folder. If you prefer a different location, simply change the ~/ros in the commands above.
Environment Setup
You'll now need to update your environment. You can do this by typing:
source ~/ros/setup.bash
It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched, which you can do with the command below:
echo "source ~/ros/setup.bash" >> ~/.bashrc . ~/.bashrc
For Zsh users, change the last line of ~/ros/setup.zsh to
source $ROS_ROOT/tools/rosbash/roszsh
before running source ~/ros/setup.zsh Similarly, have the setup script called at the start of each new shell session with
echo "source ~/ros/setup.zsh" >> ~/.zshrc . ~/.zshrc