Install ROS on macOS

Overview

Although it is not officially supported, we have had success using RoboStack to provide ROS packages.

Steps

1. Install homebrew: /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
2. Install miniforge: brew install miniforge. You should run mamba init zsh afterward and restart your shell.
3. Install Git LFS: brew install git-lfs. You should run git lfs install afterward.
4. Run mkdir -p ~/catkin_ws/src and change directory to it with cd ~/catkin_ws/src
5. Ensure you have your Git credentials set up. Clone the repository with: git clone [email protected]:umrover/mrover-ros.git mrover
6. Ensure you are in the mrover repository: cd ~/catkin_ws/src/mrover
7. Create the virtual environment, activate it, and configure it:

mamba create python=3.9 -n ros_env
mamba activate ros_env
conda config --env --add channels conda-forge
conda config --env --add channels robostack-staging
conda config --env --remove channels defaults || true

8. Now you should see "ros_env" somewhere in your prompt.
9. Install needed packages:

mamba install catkin_tools ros-noetic-ros-base ros-noetic-rviz ros-noetic-xacro ros-noetic-robot-localization
mamba install compilers ccache ninja cmake pkg-config make opencv assimp bullet glfw fmt

10. Build dawn: ./scripts/build_dawn.sh
11. Install Python dependencies: pip3 install -e ".[dev]"