Try to build rviz2 for M1 Mac but could not (failed building ogre and…

… this is a well-known issue c.f. osrf/homebrew-simulation#1628)
light-tech · Oct 1, 2022 · 67f3de9 · 67f3de9
1 parent 7387d9d
commit 67f3de9
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Showing 4 changed files with 67 additions and 37 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -45,7 +45,7 @@ jobs:
       - name: Download and extract prebuilt dependencies
         id: download_dependencies
         run: curl -OL https://github.com/light-tech/ROS2-On-iOS/releases/download/humble-macos/ros2deps_${{ matrix.platformArch }}.tar.xz && tar xzf ros2deps_${{ matrix.platformArch }}.tar.xz
-        if: ${{ false && steps.build_dependencies.outcome != 'success' && startsWith(matrix.platformArch, 'macOS') }}
+        if: ${{ true && steps.build_dependencies.outcome != 'success' && startsWith(matrix.platformArch, 'macOS') }}
 
       # On macOS, only build ROS2 if either building or downloading dependencies succeeds
       - name: Build ROS2

diff --git a/build_deps.sh b/build_deps.sh
@@ -49,7 +49,7 @@ function getSource() {
          -o boost.tar.gz https://boostorg.jfrog.io/artifactory/main/release/1.80.0/source/boost_1_80_0.tar.gz
 
     # Dependencies for cartographer
-    if [ $targetPlatform != "macOS" ]; then
+    if [ $targetPlatform != "macOS" ] && [ $targetPlatform != "macOS_M1" ]; then
     curl -s -L -o abseil-cpp.tar.gz https://github.com/abseil/abseil-cpp/archive/refs/tags/20220623.0.tar.gz \
          -o gflags.tar.gz https://github.com/gflags/gflags/archive/refs/tags/v2.2.2.tar.gz \
          -o cairo.tar.xz https://www.cairographics.org/releases/cairo-1.16.0.tar.xz \
@@ -81,18 +81,28 @@ function setupPlatform() {
     case $targetPlatform in
         "iOS")
             targetArch=arm64
+            boostArch=arm
             targetSysroot=`xcodebuild -version -sdk iphoneos Path`
             platformBasicConfigureArgs+=(--host=aarch64-apple-darwin)
             platformBasicConfigureArgsPixmanCairo+=(--host=arm-apple-darwin) # For pixman and cairo we must use arm-apple thank to  https://gist.github.com/jvcleave/9d78de9bb27434bde2b0c3a1af355d9c
             platformExtraCMakeArgs+=(-DCMAKE_TOOLCHAIN_FILE=$REPO_ROOT/cmake/$targetPlatform.cmake);;
         "iOS_Simulator")
             target=x86_64
+            boostArch=ia64
             targetSysroot=`xcodebuild -version -sdk iphonesimulator Path`
             platformExtraCMakeArgs+=(-DCMAKE_TOOLCHAIN_FILE=$REPO_ROOT/cmake/$targetPlatform.cmake);;
         "macOS")
             targetArch=x86_64
+            boostArch=ia64
             targetSysroot=`xcodebuild -version -sdk macosx Path`
             platformExtraCMakeArgs+=(-DCMAKE_OSX_ARCHITECTURES=$targetArch);;
+        "macOS_M1")
+            targetArch=arm64
+            boostArch=arm
+            targetSysroot=`xcodebuild -version -sdk macosx Path`
+            platformBasicConfigureArgs+=(--host=aarch64-apple-darwin)
+            platformBasicConfigureArgsPixmanCairo+=(--host=arm-apple-darwin)
+            platformExtraCMakeArgs+=(-DCMAKE_OSX_ARCHITECTURES=$targetArch);;
     esac
 }
 
@@ -248,7 +258,7 @@ function buildBoost() {
     echo "Build Boost"
     cd $ros2DependenciesSourceExtractionPath/boost_1_80_0
     ./bootstrap.sh --prefix=$ros2SystemDependenciesPath --without-libraries=python
-    ./b2 install
+    ./b2 install architecture=$boostArch
 }
 
 function buildQt5Host() {
@@ -265,7 +275,7 @@ function buildQt5() {
     # Patch the source https://codereview.qt-project.org/c/qt/qtbase/+/378706
     sed -i.bak "s,QT_BEGIN_NAMESPACE,#include <CoreGraphics/CGColorSpace.h>\n#include <IOSurface/IOSurface.h>\nQT_BEGIN_NAMESPACE," src/plugins/platforms/cocoa/qiosurfacegraphicsbuffer.h
 
-    ./configure -prefix $ros2SystemDependenciesPath -opensource -confirm-license -nomake examples -nomake tests -no-framework
+    ./configure -prefix $ros2SystemDependenciesPath -opensource -confirm-license -nomake examples -nomake tests -no-framework -device-option QMAKE_APPLE_DEVICE_ARCHS=$targetArch
     make && make install
 }
 
@@ -363,16 +373,16 @@ setupPlatform
 buildHostTools
 
 case $targetPlatform in
-    "macOS") # Build dependencies for RVIZ and OpenCV
+    "macOS"|"macOS_M1") # Build dependencies for RVIZ and OpenCV
         buildZlib
         buildLibPng
         buildFreeType2
         buildEigen3
         buildTinyXML2
         buildBullet3
         buildQt5
-        buildBoost
-        buildOpenCV;;
+        buildBoost;;
+        #buildOpenCV;;
 
     *) # Build dependencies for ROS2 cartographer package
         echo "We currently do not build any dependencies for iOS";;

diff --git a/build_ros2.sh b/build_ros2.sh
@@ -11,17 +11,17 @@ ros2PythonEnvPath=$REPO_ROOT/ros2PythonEnv
 ros2InstallPath=$REPO_ROOT/ros2_$targetPlatform
 ros2SystemDependenciesPath=$ros2InstallPath/deps
 
-#            --packages-up-to libcurl_vendor
-#            --executor sequential --event-handlers console_direct+
+# --packages-up-to libcurl_vendor rviz_ogre_vendor
 colconArgs=(--install-base $ros2InstallPath \
             --merge-install --cmake-force-configure \
+            --executor sequential --event-handlers console_direct+ \
             --cmake-args -DBUILD_TESTING=NO \
                          -DTHIRDPARTY=FORCE \
                          -DCOMPILE_TOOLS=NO \
                          -DFORCE_BUILD_VENDOR_PKG=ON \
                          -DBUILD_MEMORY_TOOLS=OFF \
                          -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop)
-colconVerbose=0
+colconVerbose=1
 
 prepareVirtualEnv() {
     python3 -m venv $ros2PythonEnvPath
@@ -41,6 +41,27 @@ printPython() {
     # find /Users/runner/hostedtoolcache/Python/3.10.7/x64/
 }
 
+patchRviz() {
+    # Pass the path to dependencies to rviz_ogre_vendor and orocos_kdl_vendor
+    sed -i.bak "s,CMAKE_ARGS,CMAKE_ARGS\n      -DCMAKE_PREFIX_PATH=$ros2SystemDependenciesPath,g" \
+        src/ros2/rviz/rviz_ogre_vendor/CMakeLists.txt \
+        src/ros2/orocos_kdl_vendor/orocos_kdl_vendor/CMakeLists.txt
+
+    # Disable most 3rd party dependencies when building libcurl_vendor
+    sed -i.bak "s,--with-ssl,--without-ssl --without-librtmp --without-nghttp2 --without-ngtcp2 --without-nghttp3 --without-quiche --without-zlib --without-zstd --without-brotli --disable-ldap,g" src/ros/resource_retriever/libcurl_vendor/CMakeLists.txt
+
+    touch src/ros2/orocos_kdl_vendor/python_orocos_kdl_vendor/AMENT_IGNORE \
+          src/ros2/rviz/rviz_visual_testing_framework/AMENT_IGNORE
+}
+
+patchRvizM1() {
+    # rviz_ogre_vendor forces CMAKE_OSX_ARCHITECTURES=x86_64
+    sed -i.bak "s,x86_64,arm64,g" src/ros2/rviz/rviz_ogre_vendor/CMakeLists.txt
+
+    # sed -i.bak "s,CMAKE_ARGS,CMAKE_ARGS\n      -DCMAKE_PREFIX_PATH=$ros2SystemDependenciesPath,g" \
+        src/ros2/tinyxml_vendor/CMakeLists.txt
+}
+
 buildRos2Base() {
     echo "Build ros2 base ( assuming dependencies are available at $ros2SystemDependenciesPath )"
 
@@ -56,30 +77,21 @@ buildRos2Base() {
 
     if [ $targetPlatform == "macOS" ] || [ $targetPlatform == "macOS_M1" ]; then
 
-        # For now disable extra packages for M1 Mac
         if [ $targetPlatform == "macOS" ]; then
-        # For macOS desktop, we add the CLI tools (ros2 launch) and rclpy as well
-        vcs import src < $REPO_ROOT/ros2_cli.repos
+            # For macOS desktop (Intel), we add the CLI tools (ros2 launch) and rclpy as well
+            # We probably won't be able to build these on GitHub Action as there is no way to link with the ARM version of libpython*.dylib there
+            vcs import src < $REPO_ROOT/ros2_cli.repos
+        fi
 
         # And also build RVIZ2
-        vcs import src < $REPO_ROOT/rviz2.repos
-
-        # Pass the path to dependencies to rviz_ogre_vendor and orocos_kdl_vendor
-        sed -i.bak "s,CMAKE_ARGS,CMAKE_ARGS\n      -DCMAKE_PREFIX_PATH=$ros2SystemDependenciesPath,g" \
-            src/ros2/rviz/rviz_ogre_vendor/CMakeLists.txt \
-            src/ros2/orocos_kdl_vendor/orocos_kdl_vendor/CMakeLists.txt
-
-        # Disable most 3rd party dependencies when building libcurl_vendor
-        sed -i.bak "s,--with-ssl,--without-ssl --without-librtmp --without-nghttp2 --without-ngtcp2 --without-nghttp3 --without-quiche --without-zlib --without-zstd --without-brotli --disable-ldap,g" src/ros/resource_retriever/libcurl_vendor/CMakeLists.txt
-
-        touch src/ros2/orocos_kdl_vendor/python_orocos_kdl_vendor/AMENT_IGNORE \
-              src/ros2/rviz/rviz_visual_testing_framework/AMENT_IGNORE
-        fi
+        # vcs import src < $REPO_ROOT/rviz2.repos
+        # patchRviz
 
         colconArgs+=(-DCMAKE_PREFIX_PATH=$ros2SystemDependenciesPath)
 
         if [ $targetPlatform == "macOS_M1" ]; then
-            colconArgs+=(-DCMAKE_TOOLCHAIN_FILE=$REPO_ROOT/cmake/$targetPlatform.cmake) #(-DCMAKE_OSX_ARCHITECTURES=arm64)
+            patchRvizM1
+            colconArgs+=(-DCMAKE_TOOLCHAIN_FILE=$REPO_ROOT/cmake/$targetPlatform.cmake)
         fi
 
     else
@@ -97,17 +109,15 @@ setupROS2base() {
     echo "Prepare ROS2 base and dependencies"
 
     # Extract previously built dependencies and ROS2 base to save time while we try to build rviz2
-    curl -L -o ros2deps_macOS.tar.xz https://github.com/light-tech/ROS2-On-iOS/releases/download/humble-macos/ros2deps_macOS.tar.xz \
-         -o ros2_macOS.tar.xz https://github.com/light-tech/ROS2-On-iOS/releases/download/humble-macos/ros2_macOS.tar.xz
-    tar xzf ros2deps_macOS.tar.xz
-    tar xzf ros2_macOS.tar.xz
+    curl -L -o ros2_$targetPlatform.tar.xz https://github.com/light-tech/ROS2-On-iOS/releases/download/humble-macos/ros2_$targetPlatform.tar.xz
+    tar xzf ros2_$targetPlatform.tar.xz
 
     # Source the prebuilt ROS2 base
     # IMPORTANT: GitHub Action uses bash shell!
-    source $REPO_ROOT/ros2_macOS/setup.sh
+    source $REPO_ROOT/ros2_$targetPlatform/setup.sh
 
     # Rebuild dependencies
-    # ./build_deps.sh macOS
+    # ./build_deps.sh $targetPlatform
 }
 
 buildWorkspace() {
@@ -118,14 +128,22 @@ buildWorkspace() {
     cd ros2_ws
     vcs import src < $REPO_ROOT/rviz2.repos
 
+    patchRviz
+
     colconArgs+=(-DCMAKE_PREFIX_PATH=$ros2SystemDependenciesPath)
 
-    VERBOSE=1 colcon build --executor sequential --event-handlers console_direct+ "${colconArgs[@]}"
+    if [ $targetPlatform == "macOS_M1" ]; then
+        echo "Additional fixes for M1"
+        patchRvizM1
+        colconArgs+=(-DCMAKE_TOOLCHAIN_FILE=$REPO_ROOT/cmake/$targetPlatform.cmake)
+    fi
+
+    VERBOSE=1 colcon build --packages-up-to rviz_ogre_vendor "${colconArgs[@]}"
 }
 
 test -d $ros2PythonEnvPath || prepareVirtualEnv
 source $ros2PythonEnvPath/bin/activate
 printPython
-buildRos2Base
-# setupROS2base
-# buildWorkspace
+# buildRos2Base
+setupROS2base
+buildWorkspace
diff --git a/cmake/macOS_M1.cmake b/cmake/macOS_M1.cmake
@@ -9,5 +9,7 @@ execute_process(COMMAND xcodebuild -version -sdk macosx Path
                 OUTPUT_STRIP_TRAILING_WHITESPACE)
 
 SET(CMAKE_OSX_ARCHITECTURES "arm64")
+SET(CMAKE_C_FLAGS "-arch arm64")
+SET(CMAKE_CXX_FLAGS "-arch arm64")
 SET(CMAKE_CROSSCOMPILING True)
 SET(CMAKE_SYSTEM_PROCESSOR "arm64")