Tested environments

1. OSX Mountain Lion (10.8) (Completely clean environment in virtual machine)
2. OSX Yosemite (10.10)

Dependency installation using Macports

Extracted from the instructions on http://www.ros.org/wiki/groovy/Installation/OSX/MacPorts/Repository

Setup

• Install Apple's Developer Tools (Xcode 5 or 6).
  • 10.8: After starting Xcode select "Preferences" (?,) >> "Downloads". In "Components" you will find Command Line Tools.
  • 10.9 and 10.10: Command Line Tools are automatically installed
• Install MacPorts
• Add the MacPorts binary path to PATH:

echo 'export PATH=/opt/local/bin:/opt/local/sbin:$PATH' >> ~/.bash_profile 

• Add the MacPorts library path to LIBRARY_PATH:

echo 'export LIBRARY_PATH=/opt/local/lib:$LIBRARY_PATH' >> ~/.bash_profile 

• Clone ROS-MacPorts Repository Locally and Update MacPorts Configuration
  • First checkout an initial copy of the repository:

cd ~
git clone https://github.com/smits/ros-macports.git

• • Now we need to tell MacPorts where the local repository clone is. Do this by adding a file:///path/to/clone/location line to /opt/local/etc/macports/sources.conf:

sudo sh -c 'echo file:///Users/user/ros-macports >> /opt/local/etc/macports/sources.conf'

• • Sync the port index

sudo port sync

Resolve dependencies

• Install and select the following ports:

sudo port install python27
sudo port select --set python python27
sudo port install boost libxslt lua51 ncurses pkgconfig readline netcdf netcdf-cxx omniORB p5-xml-xpath ros-hydro-catkin py27-sip ros-hydro-cmake_modules eigen3 dyncall ruby20
sudo port select --set nosetests nosetests27
sudo port select --set ruby ruby20

• Open a new terminal and verify your ruby version (should be 2.0.0) :

ruby --version 

• Verify if we use the right gem binary (should be /opt/local/bin/gem):

which gem 
sudo gem install facets nokogiri

• Check the lua version should be 5.1 not 5.2

lua -v

• If 5.2 uninstall lua port (which is lua 5.2)

sudo port uninstall lua

• Install gccxml from source:

git clone https://github.com/gccxml/gccxml
cd gccxml
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/opt/local
make
sudo make install

Build and installation of the Orocos Toolchain from source

Create a catkin workspace and get the sources

• Create a new ros workspace for building the orocos_toolchain chained with our installed ROS Groovy workspace (which in case if the MacPorts installation is /opt/local):

mkdir -p ~/orocos_ws/src
cd ~/orocos_ws/src
sudo port install py27-wstool
wstool init .
curl https://gist.githubusercontent.com/smits/9950798/raw | wstool merge -
wstool update
cd orocos_toolchain
git submodule foreach git checkout toolchain-2.8

Build & install the toolchain

• Build the new workspace (the RUBY_CONFIG_INCLUDE_DIR ends with darwin12 on OSX 10.8 or darwin14 on OSX 10.10)

cd ~/orocos_ws
source /opt/local/setup.bash
sudo /opt/local/env.sh catkin_make_isolated --install-space /opt/orocos --install --cmake-args -DENABLE_CORBA=TRUE -DCORBA_IMPLEMENTATION=OMNIORB - DRUBY_INCLUDE_DIR=/opt/local/include/ruby-2.0.0 -DRUBY_CONFIG_INCLUDE_DIR=/opt/local/include/ruby-2.0.0/x86_64-darwin13 -DRUBY_LIBRARY=/opt/local/lib/libruby2.0.dylib -DCMAKE_PREFIX_PATH="$CMAKE_PREFIX_PATH;/opt/local"

Use the toolchain

• Source the setup.bash script from the orocos install space:

source /opt/orocos/setup.bash

• To make sure that typegen uses the right compiler for gccxml add the following export to your ~/.bash_profile:

echo ‘export GCCXML_COMPILER=g++-mp-4.3’ >> ~/.bash_profile

• You should be able to run all the tools like the deployer, typegen, rttlua and oro-createpkg