webots_ros2_driver native MacOS support

webots_ros2_driver/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.15)
 project(webots_ros2_driver)
 
 # Check which ROS distribution is used, ros2control depends of that
@@ -40,13 +40,18 @@ else()
   find_package(PythonLibs 3.10 EXACT REQUIRED)
 endif()
 
+if(APPLE)
+  # Don't build a fat binary and use simple UNIX pipes for jobserver
+  set(MAKE_BUILD_VARS "NO_FAT_BINARY=1" "MAKEFLAGS=--jobserver-style=pipe")
+endif()
+
 add_custom_target(compile-lib-controller ALL
-  COMMAND ${CMAKE_COMMAND} -E env "WEBOTS_HOME=${CMAKE_CURRENT_SOURCE_DIR}/webots" make release -f Makefile > /dev/null 2>&1
+  COMMAND ${CMAKE_COMMAND} -E env "WEBOTS_HOME=${CMAKE_CURRENT_SOURCE_DIR}/webots" ${MAKE_BUILD_VARS} make release -f Makefile
   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/webots/src/controller
 )
 
 add_custom_target(compile-lib-vehicle ALL
-  COMMAND ${CMAKE_COMMAND} -E env "WEBOTS_HOME=${CMAKE_CURRENT_SOURCE_DIR}/webots" make release -f Makefile > /dev/null 2>&1
+  COMMAND ${CMAKE_COMMAND} -E env "WEBOTS_HOME=${CMAKE_CURRENT_SOURCE_DIR}/webots" ${MAKE_BUILD_VARS} make release -f Makefile
   DEPENDS compile-lib-controller
   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/webots/projects/default/libraries/vehicle
 )
@@ -80,8 +85,14 @@ ament_python_install_package(vehicle
 ament_python_install_package(${PROJECT_NAME}
   PACKAGE_DIR ${PROJECT_NAME})
 
-# Driver
-set(CMAKE_INSTALL_RPATH "$ORIGIN/../controller")
+if(UNIX AND NOT APPLE)
+  set(DYN_LOADER_PREFIX "$ORIGIN")
+elseif(APPLE)
+  set(DYN_LOADER_PREFIX "@executable_path")
+endif()
+
+set(CMAKE_INSTALL_RPATH "${DYN_LOADER_PREFIX}/../controller")
+
 add_executable(driver
   src/Driver.cpp
   src/WebotsNode.cpp
@@ -129,7 +140,7 @@ install(TARGETS driver
 )
 
 # Dynamic IMU
-set(CMAKE_INSTALL_RPATH "$ORIGIN/controller")
+set(CMAKE_INSTALL_RPATH "${DYN_LOADER_PREFIX}/controller")
 add_library(
   ${PROJECT_NAME}_imu
   SHARED
@@ -157,7 +168,7 @@ install(TARGETS ${PROJECT_NAME}_imu
 )
 
 # Dynamic RGBD
-set(CMAKE_INSTALL_RPATH "$ORIGIN/controller")
+set(CMAKE_INSTALL_RPATH "${DYN_LOADER_PREFIX}/controller")
 add_library(
   ${PROJECT_NAME}_rgbd
   SHARED

webots_ros2_driver/webots/lib/controller/python/controller/wb.py

@@ -21,7 +21,7 @@
 elif sys.platform == 'win32':
     path = os.path.join('lib', 'controller', 'Controller.dll')
 elif sys.platform == 'darwin':
-    path = os.path.join('Contents', 'lib', 'controller', 'libController.dylib')
+    path = os.path.join('lib', 'controller', 'libController.dylib')
 
 wb = ctypes.cdll.LoadLibrary(os.path.join(os.environ['WEBOTS_HOME'], path))
 

webots_ros2_driver/webots/lib/controller/python/vehicle/driver.py

@@ -43,7 +43,7 @@ def loadApi() -> ctypes.cdll:
             car = 'car.dll'
             driver = 'driver.dll'
         elif sys.platform == 'darwin':
-            path = os.path.join('Contents', 'MacOS', 'lib', 'controller')
+            path = os.path.join('lib', 'controller')
             car = 'libcar.dylib'
             driver = 'libdriver.dylib'
         ctypes.cdll.LoadLibrary(os.path.join(os.environ['WEBOTS_HOME'], path, car))

webots_ros2_driver/webots/resources/Makefile.include

@@ -321,6 +321,7 @@ endif
 
 ifeq ($(OSTYPE),darwin)
 ifdef NO_FAT_BINARY
+ PROCESSOR := $(shell uname -m)
  WBCFLAGS += -target $(PROCESSOR)-apple-macos11
  DYNAMIC_LINK_FLAGS += -target $(PROCESSOR)-apple-macos11
 endif
@@ -337,14 +338,14 @@ ifdef USE_CXX
  ifndef EXCLUDE_CONTROLLERS
   DYNAMIC_LIBRARIES += -L"$(WEBOTS_CONTROLLER_LIB_PATH)" -lController
   ifdef USE_C_API
-   ifeq ($(OSTYPE),darwin)
+   ifdef BUILD_MACOS_BUNDLE
     INCLUDE += -I"$(WEBOTS_HOME)/Contents/include/controller/c"
    else
     INCLUDE += -I"$(WEBOTS_HOME)/include/controller/c"
    endif
   else
    DYNAMIC_LIBRARIES += -lCppController
-   ifeq ($(OSTYPE),darwin)
+   ifdef BUILD_MACOS_BUNDLE
     INCLUDE += -I"$(WEBOTS_HOME)/Contents/include/controller/cpp"
    else
     INCLUDE += -I"$(WEBOTS_HOME)/include/controller/cpp"
@@ -365,7 +366,7 @@ else
   LINKER = $(CC)
  endif
  ifndef EXCLUDE_CONTROLLERS
-  ifeq ($(OSTYPE),darwin)
+  ifdef BUILD_MACOS_BUNDLE
    INCLUDE += -I"$(WEBOTS_HOME)/Contents/include/controller/c"
   else
    INCLUDE += -I"$(WEBOTS_HOME)/include/controller/c"
@@ -405,7 +406,11 @@ endif
 
 ifeq ($(OSTYPE),darwin)
  ifdef WEBOTS_LIBRARY
-  INSTALL_NAME ?= @rpath/Contents/lib/controller/$(MAIN_TARGET)
+  ifdef BUILD_MACOS_BUNDLE
+    INSTALL_NAME ?= @rpath/Contents/lib/controller/$(MAIN_TARGET)
+  else
+    INSTALL_NAME ?= @rpath/$(MAIN_TARGET)
+  endif
   LFLAGS += -Xlinker -rpath -Xlinker @loader_path/.. -install_name $(INSTALL_NAME)
  else
   CALLING_MAKEFILE_DIR := $(shell dirname "$(realpath $(firstword $(MAKEFILE_LIST)))")
@@ -436,6 +441,8 @@ ifdef USE_ODE
  endif
  ifeq ($(OSTYPE),darwin)
   DYNAMIC_LINK_FLAGS += -flat_namespace -undefined suppress
+ endif
+ ifdef BUILD_MACOS_BUNDLE
   DYNAMIC_LIBRARIES += "$(WEBOTS_HOME)/Contents/Resources/projects/plugins/physics/physics.a"
   INCLUDE += -I"$(WEBOTS_HOME)/Contents/include/ode" -I"$(WEBOTS_HOME)/Contents/include"
  else

webots_ros2_driver/webots/resources/Makefile.os.include

@@ -100,11 +100,14 @@ else
  LIB_PREFIX = lib
  ifeq ($(OSTYPE),linux)
   SHARED_LIB_EXTENSION = .so
-  WEBOTS_LIB_PATH=$(WEBOTS_HOME)/lib/webots
-  WEBOTS_CONTROLLER_LIB_PATH=$(WEBOTS_HOME)/lib/controller
  else # macOS
   SHARED_LIB_EXTENSION = .dylib
+ endif
+ ifdef BUILD_MACOS_BUNDLE
   WEBOTS_LIB_PATH=$(WEBOTS_HOME)/Contents/lib/webots
   WEBOTS_CONTROLLER_LIB_PATH=$(WEBOTS_HOME)/Contents/lib/controller
+ else
+  WEBOTS_LIB_PATH=$(WEBOTS_HOME)/lib/webots
+  WEBOTS_CONTROLLER_LIB_PATH=$(WEBOTS_HOME)/lib/controller
  endif
 endif

webots_ros2_driver/webots/src/controller/c/Makefile

@@ -38,7 +38,12 @@ WEBOTS_DEPENDENCY_PATH ?= $(WEBOTS_HOME_PATH)/dependencies
 ifeq ($(OSTYPE),darwin)
 CFLAGS      = -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION) -fpascal-strings -Wno-deprecated-declarations -I/Developer/Headers/FlatCarbon -Wall -fno-common
 INCLUDE     = -I$(WEBOTS_HOME_PATH)/include/controller/c -I$(WEBOTS_HOME_PATH)/include
-LD_FLAGS    = -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION) -dynamiclib -install_name @rpath/Contents/lib/controller/libController.dylib -compatibility_version 1.0 -current_version 1.0.0
+LD_FLAGS    = -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION) -dynamiclib -compatibility_version 1.0 -current_version 1.0.0
+ifdef BUILD_MACOS_BUNDLE
+LD_FLAGS += -install_name @rpath/Contents/lib/controller/libController.dylib
+else
+LD_FLAGS += -install_name @rpath/libController.dylib
+endif
 SHARED_LIBS = -lz
 TARGET      = $(WEBOTS_CONTROLLER_LIB_PATH)/libController.dylib
 CC          = gcc
@@ -137,9 +142,11 @@ endif
 
 endif
 
-ifeq ($(OSTYPE),darwin)
-X86_64_OBJECTS = $(addprefix $(OBJDIR)/x86_64/, $(OBJECTS))
+
+
+ifdef FAT_BINARY
 ARM64_OBJECTS = $(addprefix $(OBJDIR)/arm64/, $(OBJECTS))
+X86_64_OBJECTS = $(addprefix $(OBJDIR)/x86_64/, $(OBJECTS))
 
 $(TARGET): $(OBJDIR)/x86_64/libController.dylib $(OBJDIR)/arm64/libController.dylib
 	@echo "# creating fat binary: $$"\(WEBOTS_HOME\)/lib/controller/libController.dylib
@@ -157,9 +164,7 @@ $(OBJDIR)/arm64/libController.dylib: $(ARM64_OBJECTS)
 	@$(CC) $(LD_FLAGS) -target arm64-apple-macos11 -o $@ $(ARM64_OBJECTS) $(SHARED_LIBS)
 	@chmod a-x $@
 
-endif
-
-ifeq ($(OSTYPE),linux)
+else
 $(TARGET): $(OBJECTS)
 	@echo "# linking "$@
 	@$(CC) $(LD_FLAGS) -o $(TARGET) $(addprefix $(OBJDIR)/, $(OBJECTS)) $(SHARED_LIBS)

webots_ros2_driver/webots/src/controller/cpp/Makefile

@@ -98,7 +98,11 @@ SHAREDLIBS    = -L$(WEBOTS_CONTROLLER_LIB_PATH) -lController
 CPPFLAGS      = -c -fPIC -Wall -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION)
 CPPINCLUDES   = -I$(WEBOTS_HOME_PATH)/include/controller/c -I$(WEBOTS_HOME_PATH)/include/controller/cpp
 LIBCONTROLLER = $(WEBOTS_CONTROLLER_LIB_PATH)/libController.dylib
+ifdef BUILD_MACOS_BUNDLE
 LDFLAGS      += -install_name @rpath/Contents/lib/controller/libCppController.dylib
+else
+LD_FLAGS     += -install_name @rpath/libCppController.dylib
+endif
 TARGET        = $(WEBOTS_CONTROLLER_LIB_PATH)/libCppController.dylib
 endif
 
@@ -117,10 +121,9 @@ endif
 
 all debug profile release: $(TARGET)
 
-ifeq ($(OSTYPE),darwin)
-
-X86_64_OBJECTS = $(addprefix $(BUILD_GOAL_DIR)/x86_64/,$(OBJECTS))
-ARM64_OBJECTS = $(addprefix $(BUILD_GOAL_DIR)/arm64/,$(OBJECTS))
+ifdef FAT_BINARY
+    ARM64_OBJECTS = $(addprefix $(BUILD_GOAL_DIR)/arm64/,$(OBJECTS))
+    X86_64_OBJECTS = $(addprefix $(BUILD_GOAL_DIR)/x86_64/,$(OBJECTS))
 
 $(TARGET): $(BUILD_GOAL_DIR)/x86_64/libCppController.dylib $(BUILD_GOAL_DIR)/arm64/libCppController.dylib
 	@echo "# creating fat" $(notdir $@)

webots_ros2_driver/webots/src/controller/java/Makefile

@@ -112,7 +112,12 @@ CFLAGS1               = -isysroot $(MACOSX_SDK_PATH) -mmacosx-version-min=$(MACO
 PLATFORM_INCLUDE      = -I"$(MACOSX_SDK_PATH)/System/Library/Frameworks/JavaVM.framework/Versions/Current/Headers"
 TARGET                = $(WEBOTS_CONTROLLER_LIB_PATH)/java/lib$(LIBNAME).jnilib
 CFLAGS2               = -c -Wall -isysroot $(MACOSX_SDK_PATH) -mmacosx-version-min=$(MACOSX_MIN_SDK_VERSION) -Wno-unused-function
-JNILIB_FLAGS          = -dynamiclib -install_name @rpath/Contents/lib/controller/java/libJavaController.jnilib -Wl,-rpath,@loader_path/../../..
+JNILIB_FLAGS          = -dynamiclib -Wl,-rpath,@loader_path/../../..
+ifdef BUILD_MACOS_BUNDLE
+JNILIB_FLAGS          += -install_name @rpath/Contents/lib/controller/java/libJavaController.jnilib
+else
+JNILIB_FLAGS          += -install_name @rpath/java/libJavaController.jnilib
+endif
 JAVA_INCLUDES         = -I"$(JAVA_HOME)/include" -I"$(JAVA_HOME)/include/darwin"
 LIBCONTROLLER         = $(WEBOTS_CONTROLLER_LIB_PATH)/libController.dylib
 LIBCPPCONTROLLER      = $(WEBOTS_CONTROLLER_LIB_PATH)/libCppController.dylib

webots_ros2_driver/webots_ros2_driver/utils.py

@@ -81,7 +81,6 @@ def __str__(self):
     def short(self):
         return self.version.replace('revision ', 'rev').replace(' ', '-')
 
-
 def is_wsl():
     return 'microsoft-standard' in uname().release
 
@@ -182,8 +181,14 @@ def version_min(found, minimum):
         paths = [
             'C:\\Program Files\\Webots'                             # Windows default install
         ]
+
     # Add automatic installation path to pathes list
-    paths.append(os.path.join(str(Path.home()), '.ros', 'webots' + minimum_version.short(), 'webots'))
+    auto_webots_path = os.path.join(str(Path.home()), '.ros', 'webots' + minimum_version.short())
+
+    if sys.platform == 'darwin':
+        paths.append(os.path.join(auto_webots_path, 'Webots.app', 'Contents'))
+    else:
+        paths.append(os.path.join(auto_webots_path, 'Webots'))
 
     # Check if default pathes contain target version of Webots
     for path in paths:
@@ -211,6 +216,9 @@ def on_download_progress_changed(count, block_size, total_size):
     if is_wsl():
         archive_name = f'webots-{minimum_version.short()}_setup.exe'
         archive_path = os.path.join('/mnt/c/Temp', archive_name)
+    elif sys.platform == 'darwin':
+        archive_name = f'webots-{minimum_version.short()}.dmg'
+        archive_path = os.path.join(installation_directory, archive_name)
     else:
         installation_path = os.path.abspath(os.path.join(installation_directory, 'webots'))
         archive_name = f'webots-{minimum_version.short()}-x86-64.tar.bz2'
@@ -234,6 +242,22 @@ def on_download_progress_changed(count, block_size, total_size):
         subprocess.check_output(f'{archive_path} /SILENT /ALLUSERS', shell=True)
         os.remove(archive_path)
         os.environ['WEBOTS_HOME'] = '/mnt/c/Program Files/Webots'
+    elif sys.platform == 'darwin':
+        print('Installing Application Bundle...')
+
+        bundle_path = Path(os.path.join(installation_directory, 'webots_mnt', 'Webots.app'))
+        target_dir = Path(os.path.join(installation_directory, f'webots{minimum_version.short()}'))
+
+        if not bundle_path.exists():
+            print(subprocess.check_output(f'hdiutil attach {archive_path} -mountpoint {installation_directory}/webots_mnt', shell=True))
+            target_dir.mkdir(parents=True, exist_ok=True)
+            shutil.copytree(bundle_path, os.path.join(target_dir, 'Webots.app'))
+
+        if Path(os.path.join(installation_directory, 'webots_mnt')).exists():
+            subprocess.check_output(f'hdiutil detach {installation_directory}/webots_mnt', shell=True)
+
+        os.environ['WEBOTS_HOME'] = os.path.join(target_dir, 'Webots.app', "Contents")
+        os.environ['WEBOTS_HOME_PATH'] = os.path.join(target_dir, 'Webots.app', 'Contents')
     else:
         installation_subdirectory = os.path.join(installation_directory, 'webots' + minimum_version.short())
         print('Extracting...')

webots_ros2_driver/webots_ros2_driver/webots_launcher.py

@@ -74,6 +74,8 @@ def __init__(self, output='screen', world=None, gui=True, mode='realtime', strea
                 webots_path = get_webots_home()
             if self.__is_wsl:
                 webots_path = os.path.join(webots_path, 'msys64', 'mingw64', 'bin', 'webots.exe')
+            elif sys.platform == 'darwin':
+                webots_path = os.path.join(webots_path, 'MacOS', 'webots')
             else:
                 webots_path = os.path.join(webots_path, 'webots')
         else:

webots_ros2_msgs/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.15)
 project(webots_ros2_msgs)
 
 # Default to C11