MacOS Development Environment Setup

PX4 Autopilot
1

Hello,

Do I still need to perform the following steps in the newer MacOS? I am on Sequoia 15.7.2 with M4 Pro.

Also I executed these steps in virtual environment.

brew install --cask temurin
brew install --cask xquartz
brew install px4-sim-gazebo

Thank you,

Mustafa

  1. Run the following commands in your shell:

    brew unlink tbb
sed -i.bak '/disable! date:/s/^/  /; /disable! date:/s/./#/3' $(brew --prefix)/Library/Taps/homebrew/homebrew-core/Formula/tbb@2020.rb
brew install tbb@2020
brew link tbb@2020
2

Hello again,

I proceeded to build steps for gazebo-classic_iris because I read it somewhere. It failed with the following error at the bottom of this log. I tired wit gazebo-classic that did not work either. I cleaned distribution but no change. Should I delete the repo and restart my MacBook and try again?

Mustafa

(venv) mustafacayci@Mustafas-MacBook-Pro PX4-Autopilot % make px4_sitl gazebo-classic_iris
-- PX4_GIT_TAG: v1.17.0-alpha1-292-gaa850d5c1c
CMake Warning (dev) at CMakeLists.txt:176 (find_package):
  Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules
  are removed.  Run "cmake --help-policy CMP0148" for policy details.  Use
  the cmake_policy command to set the policy and suppress this warning.

This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PythonInterp: /Users/mustafacayci/Documents/Projects/px4/venv/bin/python3 (found suitable version "3.14.2", minimum required is "3")
-- PX4 config file: /Users/mustafacayci/Documents/Projects/px4/PX4-Autopilot/boards/px4/sitl/default.px4board
-- PLATFORM posix
-- ROMFSROOT px4fmu_common
-- TESTING y
-- ETHERNET y
-- ROOT_PATH .
-- PARAM_FILE /fs/mtd_params
-- PX4 config: px4_sitl_default
-- PX4 platform: posix
-- PX4 lockstep: enabled
-- The CXX compiler identification is AppleClang 17.0.0.17000404
-- The C compiler identification is AppleClang 17.0.0.17000404
-- The ASM compiler identification is AppleClang
-- Found assembler: /usr/bin/cc
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- cmake build type: RelWithDebInfo
-- ccache enabled (export CCACHE_DISABLE=1 to disable)
CMake Deprecation Warning at platforms/posix/src/px4/common/lockstep_scheduler/CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 3.10 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
  to tell CMake that the project requires at least <min> but has been updated
  to work with policies introduced by <max> or earlier.


-- Looking for gz-transport13 -- found version 13.5.0
-- Searching for dependencies of gz-transport13
-- Found ZLIB: /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/lib/libz.tbd (found version "1.2.12")
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
--   Found libzmq, version 4.3.5
-- Found ZeroMQ: TRUE (Required is at least version "4")
-- Found UUID: TRUE
-- Looking for gz-utils2 -- found version 2.2.1
-- Searching for dependencies of gz-utils2
-- Searching for <gz-utils2> component [cli]
-- Looking for gz-utils2-cli -- found version 2.2.1
-- Searching for dependencies of gz-utils2-cli
-- Looking for gz-msgs10 -- found version 10.3.2
-- Searching for dependencies of gz-msgs10
-- Looking for gz-utils2 -- found version 2.2.1
-- Looking for gz-math7 -- found version 7.5.2
-- Searching for dependencies of gz-math7
-- Looking for gz-utils2 -- found version 2.2.1
-- Checking for module 'tinyxml2'
--   Found tinyxml2, version 11.0.0
-- Found Python3: /Users/mustafacayci/Documents/Projects/px4/venv/bin/python3.14 (found version "3.14.2") found components: Interpreter
-- Found Protobuf: /opt/homebrew/lib/libprotobuf.dylib (found version "6.33.2")
-- Looking for gz-transport13 -- found version 13.5.0
-- Searching for dependencies of gz-transport13
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
--   Found libzmq, version 4.3.5
-- Looking for gz-utils2 -- found version 2.2.1
-- Searching for dependencies of gz-utils2
-- Searching for <gz-utils2> component [cli]
-- Looking for gz-utils2-cli -- found version 2.2.1
-- Searching for dependencies of gz-utils2-cli
-- Looking for gz-msgs10 -- found version 10.3.2
-- Searching for dependencies of gz-msgs10
-- Looking for gz-utils2 -- found version 2.2.1
-- Looking for gz-math7 -- found version 7.5.2
-- Searching for dependencies of gz-math7
-- Looking for gz-utils2 -- found version 2.2.1
-- Checking for module 'tinyxml2'
--   Found tinyxml2, version 11.0.0
-- Looking for gz-sim8 -- found version 8.10.0
-- Searching for dependencies of gz-sim8
-- Looking for sdformat14 -- found version 14.8.0
-- Searching for dependencies of sdformat14
-- Looking for gz-math7 -- found version 7.5.2
-- Looking for gz-utils2 -- found version 2.2.1
-- Looking for gz-plugin2 -- found version 2.0.4
-- Searching for dependencies of gz-plugin2
-- Looking for gz-utils2 -- found version 2.2.1
-- Searching for <gz-plugin2> component [loader]
-- Looking for gz-plugin2-loader -- found version 2.0.4
-- Searching for dependencies of gz-plugin2-loader
-- Searching for <gz-plugin2> component [register]
-- Looking for gz-plugin2-register -- found version 2.0.4
-- Searching for dependencies of gz-plugin2-register
-- Looking for gz-transport13 -- found version 13.5.0
-- Searching for dependencies of gz-transport13
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
--   Found libzmq, version 4.3.5
-- Looking for gz-utils2 -- found version 2.2.1
-- Looking for gz-msgs10 -- found version 10.3.2
-- Searching for <gz-transport13> component [log]
-- Looking for gz-transport13-log -- found version 13.5.0
-- Searching for dependencies of gz-transport13-log
-- Searching for <gz-transport13> component [parameters]
-- Looking for gz-transport13-parameters -- found version 13.5.0
-- Searching for dependencies of gz-transport13-parameters
-- Looking for gz-msgs10 -- found version 10.3.2
-- Looking for gz-common5 -- found version 5.7.1
-- Searching for dependencies of gz-common5
-- Looking for gz-utils2 -- found version 2.2.1
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- Found DL: TRUE
-- Searching for <gz-common5> component [av]
-- Looking for gz-common5-av -- found version 5.7.1
-- Searching for dependencies of gz-common5-av
-- Checking for module 'libswscale'
--   Found libswscale, version 9.1.100
-- Found SWSCALE: TRUE
-- Checking for module 'libavdevice >= 56.4.100'
--   Found libavdevice, version 62.1.100
-- Found AVDEVICE: TRUE (Required is at least version "56.4.100")
-- Checking for module 'libavformat'
--   Found libavformat, version 62.3.100
-- Found AVFORMAT: TRUE
-- Checking for module 'libavcodec'
--   Found libavcodec, version 62.11.100
-- Found AVCODEC: TRUE
-- Checking for module 'libavutil'
--   Found libavutil, version 60.8.100
-- Found AVUTIL: TRUE
-- Searching for <gz-common5> component [events]
-- Looking for gz-common5-events -- found version 5.7.1
-- Searching for dependencies of gz-common5-events
-- Looking for gz-math7 -- found version 7.5.2
-- Searching for <gz-common5> component [graphics]
-- Looking for gz-common5-graphics -- found version 5.7.1
-- Searching for dependencies of gz-common5-graphics
-- Looking for gz-math7 -- found version 7.5.2
-- Found GzAssimp: TRUE (found version "6.0.2")
-- Searching for <gz-common5> component [io]
-- Looking for gz-common5-io -- found version 5.7.1
-- Searching for dependencies of gz-common5-io
-- Searching for <gz-common5> component [profiler]
-- Looking for gz-common5-profiler -- found version 5.7.1
-- Searching for dependencies of gz-common5-profiler
-- Looking for gz-fuel_tools9 -- found version 9.1.1
-- Searching for dependencies of gz-fuel_tools9
-- Found CURL: /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/usr/lib/libcurl.tbd (found version "8.7.1")
-- Checking for module 'jsoncpp'
--   Found jsoncpp, version 1.9.6
-- Found JSONCPP: TRUE
-- Checking for module 'yaml-0.1'
--   Found yaml-0.1, version 0.2.5
-- Found YAML: TRUE
-- Checking for module 'libzip'
--   Found libzip, version 1.11.4
-- Found ZIP: TRUE
-- Looking for gz-utils2 -- found version 2.2.1
-- Looking for gz-common5 -- found version 5.7.1
-- Searching for dependencies of gz-common5
-- Looking for gz-utils2 -- found version 2.2.1
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- Searching for <gz-common5> component [testing]
-- Looking for gz-common5-testing -- found version 5.7.1
-- Searching for dependencies of gz-common5-testing
-- Looking for gz-math7 -- found version 7.5.2
-- Looking for gz-msgs10 -- found version 10.3.2
-- Looking for gz-gui8 -- found version 8.4.0
-- Searching for dependencies of gz-gui8
-- Looking for gz-utils2 -- found version 2.2.1
-- Looking for gz-math7 -- found version 7.5.2
-- Looking for gz-common5 -- found version 5.7.1
-- Looking for gz-plugin2 -- found version 2.0.4
-- Looking for gz-transport13 -- found version 13.5.0
-- Looking for gz-rendering8 -- found version 8.2.3
-- Searching for dependencies of gz-rendering8
-- Looking for gz-math7 -- found version 7.5.2
-- Searching for dependencies of gz-math7
-- Looking for gz-utils2 -- found version 2.2.1
-- Searching for <gz-math7> component [eigen3]
-- Looking for gz-math7-eigen3 -- found version 7.5.2
-- Searching for dependencies of gz-math7-eigen3
-- Checking for module 'eigen3'
--   Found eigen3, version 5.0.1
-- Looking for gz-common5 -- found version 5.7.1
-- Searching for dependencies of gz-common5
-- Looking for gz-utils2 -- found version 2.2.1
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- Searching for <gz-common5> component [graphics]
-- Searching for <gz-common5> component [events]
-- Searching for <gz-common5> component [geospatial]
-- Looking for gz-common5-geospatial -- found version 5.7.1
-- Searching for dependencies of gz-common5-geospatial
-- Looking for gz-math7 -- found version 7.5.2
-- Looking for gz-common5 -- found version 5.7.1
-- Looking for gz-plugin2 -- found version 2.0.4
-- Searching for dependencies of gz-plugin2
-- Looking for gz-utils2 -- found version 2.2.1
-- Searching for <gz-plugin2> component [all]
-- Looking for all libraries of gz-plugin2 -- found version 2.0.4
-- Looking for gz-plugin2 -- found version 2.0.4
-- Looking for gz-utils2 -- found version 2.2.1
-- Looking for gz-msgs10 -- found version 10.3.2
-- Looking for gz-physics7 -- found version 7.6.0
-- Searching for dependencies of gz-physics7
-- Looking for gz-common5 -- found version 5.7.1
-- Looking for gz-math7 -- found version 7.5.2
-- Looking for gz-plugin2 -- found version 2.0.4
-- Looking for gz-utils2 -- found version 2.2.1
-- Searching for <gz-physics7> component [heightmap]
-- Looking for gz-physics7-heightmap -- found version 7.6.0
-- Searching for dependencies of gz-physics7-heightmap
-- Looking for gz-common5 -- found version 5.7.1
-- Searching for <gz-physics7> component [mesh]
-- Looking for gz-physics7-mesh -- found version 7.6.0
-- Searching for dependencies of gz-physics7-mesh
-- Looking for gz-common5 -- found version 5.7.1
-- Searching for <gz-physics7> component [sdf]
-- Looking for gz-physics7-sdf -- found version 7.6.0
-- Searching for dependencies of gz-physics7-sdf
-- Looking for sdformat14 -- found version 14.8.0
-- Looking for gz-sensors8 -- found version 8.2.2
-- Searching for dependencies of gz-sensors8
-- Looking for gz-math7 -- found version 7.5.2
-- Looking for gz-common5 -- found version 5.7.1
-- Looking for gz-transport13 -- found version 13.5.0
-- Looking for gz-rendering8 -- found version 8.2.3
-- Looking for gz-msgs10 -- found version 10.3.2
-- Looking for sdformat14 -- found version 14.8.0
-- Searching for <gz-sensors8> component [air_pressure]
-- Looking for gz-sensors8-air_pressure -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-air_pressure
-- Searching for <gz-sensors8> component [air_speed]
-- Looking for gz-sensors8-air_speed -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-air_speed
-- Searching for <gz-sensors8> component [altimeter]
-- Looking for gz-sensors8-altimeter -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-altimeter
-- Searching for <gz-sensors8> component [imu]
-- Looking for gz-sensors8-imu -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-imu
-- Searching for <gz-sensors8> component [force_torque]
-- Looking for gz-sensors8-force_torque -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-force_torque
-- Searching for <gz-sensors8> component [logical_camera]
-- Looking for gz-sensors8-logical_camera -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-logical_camera
-- Searching for <gz-sensors8> component [magnetometer]
-- Looking for gz-sensors8-magnetometer -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-magnetometer
-- Searching for <gz-sensors8> component [navsat]
-- Looking for gz-sensors8-navsat -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-navsat
-- Searching for <gz-sensors8> component [dvl]
-- Looking for gz-sensors8-dvl -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-dvl
-- Looking for gz-sensors8 -- found version 8.2.2
-- Searching for dependencies of gz-sensors8
-- Looking for gz-math7 -- found version 7.5.2
-- Looking for gz-common5 -- found version 5.7.1
-- Looking for gz-transport13 -- found version 13.5.0
-- Looking for gz-rendering8 -- found version 8.2.3
-- Looking for gz-msgs10 -- found version 10.3.2
-- Looking for sdformat14 -- found version 14.8.0
-- Searching for <gz-sensors8> component [rendering]
-- Looking for gz-sensors8-rendering -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-rendering
-- Searching for <gz-sensors8> component [rendering]
-- Searching for <gz-sensors8> component [lidar]
-- Looking for gz-sensors8-lidar -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-lidar
-- Looking for gz-sensors8 -- found version 8.2.2
-- Searching for <gz-sensors8> component [gpu_lidar]
-- Looking for gz-sensors8-gpu_lidar -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-gpu_lidar
-- Looking for gz-sensors8 -- found version 8.2.2
-- Searching for <gz-sensors8> component [camera]
-- Looking for gz-sensors8-camera -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-camera
-- Looking for gz-sensors8 -- found version 8.2.2
-- Searching for <gz-sensors8> component [boundingbox_camera]
-- Looking for gz-sensors8-boundingbox_camera -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-boundingbox_camera
-- Searching for <gz-sensors8> component [segmentation_camera]
-- Looking for gz-sensors8-segmentation_camera -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-segmentation_camera
-- Searching for <gz-sensors8> component [depth_camera]
-- Looking for gz-sensors8-depth_camera -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-depth_camera
-- Looking for gz-sensors8 -- found version 8.2.2
-- Searching for <gz-sensors8> component [rgbd_camera]
-- Looking for gz-sensors8-rgbd_camera -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-rgbd_camera
-- Looking for gz-sensors8 -- found version 8.2.2
-- Searching for <gz-sensors8> component [thermal_camera]
-- Looking for gz-sensors8-thermal_camera -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-thermal_camera
-- Looking for gz-sensors8 -- found version 8.2.2
-- Searching for <gz-sensors8> component [wide_angle_camera]
-- Looking for gz-sensors8-wide_angle_camera -- found version 8.2.2
-- Searching for dependencies of gz-sensors8-wide_angle_camera
-- Looking for gz-rendering8 -- found version 8.2.3
-- Looking for gz-math7 -- found version 7.5.2
-- Looking for gz-utils2 -- found version 2.2.1
-- Looking for gz-sensors8 -- found version 8.2.2
-- Looking for gz-plugin2 -- found version 2.0.4
-- Found OpenCV: /opt/homebrew/Cellar/opencv/4.12.0_19 (found version "4.12.0")
-- Found OpenCV: /opt/homebrew/Cellar/opencv/4.12.0_19 (found version "4.12.0") found components: core imgproc
-- Found PkgConfig: /opt/homebrew/bin/pkg-config (found version "2.5.1")
-- Checking for module 'gstreamer-1.0'
--   Found gstreamer-1.0, version 1.26.10
-- Checking for module 'gstreamer-app-1.0'
--   Found gstreamer-app-1.0, version 1.26.10
-- Found Java: /Library/Java/JavaVirtualMachines/temurin-25.jdk/Contents/Home/bin/java (found version "25.0.1")
-- ROMFS: ROMFS/px4fmu_common
-- Configuring done (4.4s)
-- Generating done (0.4s)
-- Build files have been written to: /Users/mustafacayci/Documents/Projects/px4/PX4-Autopilot/build/px4_sitl_default
ninja: error: unknown target 'gazebo-classic_iris'
make: *** [px4_sitl] Error 1
3

Classic Gazebo has been replaced, so support will be tricky, unfortunately. I personally still have it running in a Ubuntu 20.04 Virtualbox image, for when I need it.

If developers using Apple want to chime in and help maintain this, that’s good, otherwise, consider it abandoned.

Does new Gazebo not work for you?

4

@JulianOes Hello Julian, I have five developers and I am trying to establish development environments for each. Today as you know I installed and configured on Ubuntu 22.04 in Jetson Orin Nano except QGroundControl (That is another issue.) but if all developers connect to that environment at the same, I am afraid it is not going to scale. That is the problem I am trying to solve. If you have any suggestions, please do share with me.

Thank you,

Mustafa

5

Are you saying that one option is to create a Virtual Environment in our MacBooks and install PX4 and QGroundControl on the Virtual Environment? Thanks for your confirmation.

Mustafa

6

What about using new Gazebo instead of Gazebo classic that has been deprecated several years ago (by OSRF not PX4, we are just downstream of that decision).