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Installing ROS 2 on OS X

This page explains how to install ROS 2 on OS X from a pre-built binary package.

System requirements

We support OS X El Capitan and Sierra (10.11.x and 10.12.x).

Installing prerequisites

You need the following things installed before installing ROS 2.

  • brew (needed to install more stuff; you probably already have this):

    • Follow installation instructions at http://brew.sh/

    • Optional: Check that brew is happy with your system configuration by running:

        brew doctor
      Fix any problems that it identifies.
  • Use brew to install more stuff:

    brew install python3
    # install asio and tinyxml2 for Fast-RTPS
    brew install asio tinyxml2
    # install dependencies for robot state publisher
    brew install tinyxml eigen pcre poco
    # OpenCV isn't a dependency of ROS 2, but it is used by some demos.
    brew install opencv
    # install OpenSSL for DDS-Security
    brew install openssl
    # install Qt for RViz
    brew install qt freetype assimp
  • Install additional runtime dependencies for command-line tools:

    python3 -m pip install catkin_pkg empy git+https://github.com/lark-parser/lark.git@0.7b pyparsing pyyaml setuptools argcomplete

Disable System Integrity Protection (SIP)

OS X versions >=10.11 have System Integrity Protection enabled by default. So that SIP doesn’t prevent processes from inheriting dynamic linker environment variables, such as DYLD_LIBRARY_PATH, you’ll need to disable it following these instructions.

Downloading ROS 2

  • Go the releases page: https://github.com/ros2/ros2/releases

  • Download the latest package for OS X; let’s assume that it ends up at ~/Downloads/ros2-package-osx-x86_64.tar.bz2.

    • Note: there may be more than one binary download option which might cause the file name to differ.
  • Unpack it:

    mkdir -p ~/ros2_install
    cd ~/ros2_install
    tar xf ~/Downloads/ros2-package-osx-x86_64.tar.bz2

Install additional DDS implementations (optional)

ROS 2 builds on top of DDS. It is compatible with multiple DDS or RTPS (the DDS wire protocol) vendors.

For ROS 2 Bouncy and newer:

The package you downloaded has been built with optional support for three vendors. Run-time support for eProsima’s Fast RTPS is included bundled by default. If you would like to use one of the other vendors you will need to install their software separately.

For ROS 2 Ardent and older:

If you downloaded a package that includes support for OpenSplice, you must install OpenSplice as detailed below.

To enable OpenSplice support:

Download the latest release from https://github.com/ADLINK-IST/opensplice/releases and unpack it. For ROS 2 releases up to and including Ardent, do not do anything else at this point. For ROS 2 releases later than Ardent, set the OSPL_HOME environment variable to the unpacked directory that contains the release.com script.

To enable Connext support:

To use RTI Connext you will need to have obtained a license from RTI.

You can install the OS X package of Connext version 5.3.1 provided by RTI from their downloads page.

After installing, run RTI launcher and point it to your license file.

Set the NDDSHOME environment variable:

export NDDSHOME=/Applications/rti_connext_dds-5.3.1/

You may need to increase shared memory resources following https://community.rti.com/kb/osx510.

If you want to install the Connext DDS-Security plugins please refer to this page

Set up the ROS 2 environment

Source the ROS 2 setup file:

. ~/ros2_install/ros2-osx/setup.bash

For ROS 2 releases up to and including Ardent, if you downloaded a release with OpenSplice support you must additionally source the OpenSplice setup file manually (this is done automatically for ROS 2 releases later than Ardent). Only do this after you have sourced the ROS 2 one:

. <path_to_opensplice>/x86_64.darwin10_clang/release.com

Try some examples

In one terminal, set up the ROS 2 environment as described above and then run a talker:

ros2 run demo_nodes_cpp talker

In another terminal, set up the ROS 2 environment and then run a listener:

ros2 run demo_nodes_cpp listener

You should see the talker saying that it’s Publishing messages and the listener saying I heard those messages. Hooray!

If you have installed support for an optional vendor, see this page for details on how to use that vendor.

If you run into issues, see the troubleshooting section on the source installation page.