Small documentation update

.github/workflows/build_dependencies.yml

@@ -3,6 +3,7 @@ on:
   push:
     paths:
       - 'build_deps.sh'
+      - '.github/workflows/build_dependencies.yml'
 jobs:
   build-ros2:
     runs-on: macos-latest
@@ -16,7 +17,7 @@ jobs:
         with:
           cmake-version: '3.23.x'
       - run: ./build_deps.sh ${{ matrix.platformArch }}
-      - run: tar czf deps_${{ matrix.platformArch }}.tar.xz deps_${{ matrix.platformArch }}/
+      - run: tar cJf deps_${{ matrix.platformArch }}.tar.xz deps_${{ matrix.platformArch }}/
       - uses: actions/upload-artifact@v3
         with:
           name: deps_${{ matrix.platformArch }}

.github/workflows/main_macos.yml

@@ -3,6 +3,7 @@ on:
   push:
     paths:
       - 'build_ros2_macos.sh'
+      - '.github/workflows/main_macos.yml'
 jobs:
   build-ros2:
     runs-on: macos-latest
@@ -19,8 +20,8 @@ jobs:
           cache: 'pip'
       - run: pip3 install -r requirements.txt
       - run: ./build_ros2_macos.sh
-      - run: tar cJf ros2.tar.xz ros2/
+      - run: tar cJf ros2_macOS.tar.xz ros2_macOS/
       - uses: actions/upload-artifact@v3
         with:
-          name: ros2
-          path: ros2.tar.xz
+          name: ros2_macOS
+          path: ros2_macOS.tar.xz

.gitignore

@@ -8,6 +8,7 @@ ros2
 ros2_ws/
 deps*/
 host_deps/
+*.tar.xz
 
 # Finder
 .DS_Store

README.md

@@ -2,16 +2,18 @@
 
 Build ROS2 stack for iOS software development.
 
-**For the impatient**: Instead of building ROS2 from source (see below), you can download [our prebuilt libs](https://github.com/light-tech/ROS2-On-iOS/releases) and extract it to the root of the repo with `tar xzf`.
-Then make a symlink `ros2` pointing to the extracted `ros2_iOS_Simulator` where we can find the ROS2 `lib` and `include` headers
+**For the impatient**: Instead of building ROS2 from source (see below), you can download [our prebuilt libs](https://github.com/light-tech/ROS2-On-iOS/releases) and extract it.
+Then make a symlink `ros2` pointing to the extracted `ros2_$PLATFORM` where we can find the ROS2 `lib` and `include` headers
 ```shell
-ln -s ros2_iOS_Simulator ros2
+ln -s PATH_TO_EXTRACTED_ros2_$PLATFORM ros2
 ```
-You should of course change the symlink target when switching between building for real iPhone, for simulator and for Mac Catalyst.
+You should of course change the symlink target when switching between building for real iPhone, simulator and Mac Catalyst.
 Now we can run the demo application which ports [the official example](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html): Run the app on **two** simulator instances, click on *Start publishing* on one and *Start listening* on the other.
 
 ![Minimal Publisher/Subscriber Demo](https://user-images.githubusercontent.com/25411167/184833976-2287a315-0dd8-4d0c-82e6-c42bd7a53d66.mov)
 
+_Note_: To run Mac Catalyst app on your macOS machine, you need to sign the app with your development signing certificate.
+
 **Main guides**:
 
  * [Build ROS2 from source on macOS](https://docs.ros.org/en/humble/Installation/Alternatives/macOS-Development-Setup.html)
@@ -22,38 +24,30 @@ Now we can run the demo application which ports [the official example](https://d
 
 We are going to need
 
- * CMake **3.23** until [this](https://github.com/ament/ament_cmake/pull/395) is sorted out
+ * CMake **3.23** until [this issue](https://github.com/ament/ament_cmake/pull/395) is sorted out
  * Python **3.10**
  * Xcode + Command Line tools
 
 installed. All subsequent shell commands are to be done at `$REPO_ROOT`.
 
-Also, create a Python virtual environment for ease of working
+Also, create a Python virtual environment for ease of package installation
 
  1. Create a new Python virtual environment
     ```shell
-    export MY_PYTHON_ENV=usr_local
-    python3 -m venv $MY_PYTHON_ENV
+    python3 -m venv my_ros2_python_env
     ```
-    Here I use `usr_local` as it is intended to act like `/usr/local/`.
 
  2. Activate the environment
     ```shell
-    source $MY_PYTHON_ENV/bin/activate
+    source my_ros2_python_env/bin/activate
     ```
 
  3. Install the packages
     ```shell
     python3 -m pip install -r requirements.txt
     ```
 
- 4. Compile `googletest`:
-    ```shell
-    cd usr_local/lib/python3.10/site-packages/mypyc/external/googletest/make
-    make
-    ```
-
-If you have other environment management such as Anaconda, remember to deactivate them.
+If you have other environment management such as Anaconda, remember to **DEACTIVATE** them.
 
 ## Source and workspace preparation
 
@@ -97,17 +91,19 @@ If you have other environment management such as Anaconda, remember to deactivat
     ln -s $REPO_ROOT/src src
     ```
 
- 5. It is good to have multiple workspaces such as
+ 5. During development, it is good to have multiple workspaces such as
+
      - `ament_ws`: move `ament` here, build and `source` it before moving on to
      - `base_ws`: add `rcl` and its dependencies and once successful
      - `rclcpp_ws`: add other desired packages such as `rclcpp`.
+
     This way, one can minimize the amount of packages to rebuild.
 
 ## Build ROS2 core packages for iOS
 
 Before building, we need to change the line `#include <net/if_arp.h>` in `src/eProsima/Fast-DDS/src/cpp/utils/IPFinder.cpp` into `#include <net/ethernet.h>` according to [this](https://stackoverflow.com/questions/10395041/getting-arp-table-on-iphone-ipad) as the original header is only available in the macOS SDK.
 
-We also disable `rcl_logging_spdlog` by
+We also disable the package `rcl_logging_spdlog` by
 ```shell
 touch src/ros2/rcl_logging/rcl_logging_spdlog/AMENT_IGNORE
 ```

build_deps.sh

@@ -84,7 +84,7 @@ function setupPlatform() {
 
 function setCompilerFlags() {
     export CFLAGS="-isysroot $SYSROOT -arch $ARCH -I$DEPS_SYSROOT/include/"
-    export CPPFLAGS="-isysroot $SYSROOT -arch $ARCH -I$DEPS_SYSROOT/include/"
+    export CXXFLAGS="-isysroot $SYSROOT -arch $ARCH -I$DEPS_SYSROOT/include/"
 }
 
 function buildCMake() {
@@ -106,7 +106,7 @@ function configureThenMakeArm() {
     make && make install # >/dev/null 2>&1
 
     export -n CFLAGS
-    export -n CPPFLAGS
+    export -n CXXFLAGS
 }
 
 function configureThenMake() {
@@ -122,7 +122,7 @@ function configureThenMake() {
     make && make install #>/dev/null 2>&1
 
     export -n CFLAGS
-    export -n CPPFLAGS
+    export -n CXXFLAGS
 }
 
 function configureThenMakeNoHost() {
@@ -132,7 +132,7 @@ function configureThenMakeNoHost() {
     make && make install #>/dev/null 2>&1
 
     export -n CFLAGS
-    export -n CPPFLAGS
+    export -n CXXFLAGS
 }
 
 function buildHostTools() {

build_ros2_macos.sh

@@ -5,12 +5,12 @@ REPO_ROOT=`pwd`
 
 cd $REPO_ROOT
 mkdir -p base_ws/src
-vcs import base_ws/src < $REPO_ROOT/ros2_min.repos
-vcs import base_ws/src < $REPO_ROOT/rviz2.repos
+vcs import ros2_ws/src < $REPO_ROOT/ros2_min.repos
+vcs import ros2_ws/src < $REPO_ROOT/rviz2.repos
 
 # Ignore rcl_logging_spdlog package
 touch base_ws/src/ros2/rcl_logging/rcl_logging_spdlog/AMENT_IGNORE
 touch base_ws/src/ros2/orocos_kdl_vendor/python_orocos_kdl_vendor/AMENT_IGNORE
 
-cd base_ws
-colcon build --install-base $REPO_ROOT/ros2 --merge-install --cmake-force-configure --cmake-args -DBUILD_TESTING=NO -DTHIRDPARTY=FORCE -DCOMPILE_TOOLS=NO -DFORCE_BUILD_VENDOR_PKG=ON -DBUILD_MEMORY_TOOLS=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop -DCMAKE_PREFIX_PATH=$REPO_ROOT/deps
+cd ros2_ws
+colcon build --install-base $REPO_ROOT/ros2_macOS --merge-install --cmake-force-configure --cmake-args -DBUILD_TESTING=NO -DTHIRDPARTY=FORCE -DCOMPILE_TOOLS=NO -DFORCE_BUILD_VENDOR_PKG=ON -DBUILD_MEMORY_TOOLS=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop -DCMAKE_PREFIX_PATH=$REPO_ROOT/deps