Open askman92 opened 7 months ago
traversaro
commented
7 months ago The relevant code is https://github.com/cyberbotics/webots_ros/blob/a4c93300e1528ac4f8fbf5cb7c3ecee63ff69784/scripts/webots_launcher.py#L64-L67 . Did you already set WEBOTS_HOME to point to /Applications/Webots.app ? Otherwise your error is quite surprising.
Note that it is a bit of an hack, but to test you can also modify the webots_launcher.py installed to check how make it work.
traversaro
commented
7 months ago I tried to patch this locally however had some issues getting the patch to build correctly. I now cannot seem to build the package locally as it is skipped in the vinca file due to existing on the robostack-staging channel.
Not sure if it is the cleanest possible solution, a possible trick is to remove the skip_existing section from the vinca config file https://github.com/RoboStack/ros-noetic/blob/main/vinca_osx_arm64.yaml#L31-L34 . This will generate a lot of recipes (if you run vinca --multiple), but then you can just build the webots_ros one to debug.
askman92
commented
7 months ago The relevant code is https://github.com/cyberbotics/webots_ros/blob/a4c93300e1528ac4f8fbf5cb7c3ecee63ff69784/scripts/webots_launcher.py#L64-L67 . Did you already set
WEBOTS_HOMEto point to/Applications/Webots.app? Otherwise your error is quite surprising.Note that it is a bit of an hack, but to test you can also modify the
webots_launcher.pyinstalled to check how make it work.
I have WEBOTS_HOME set to /Applications/Webots.app, however the executable lives at /Applications/Webots.app/Contents/MacOS/webots, so when that path is built, it points to a non-existent location.
Not sure if it is the cleanest possible solution, a possible trick is to remove the
skip_existingsection from the vinca config file https://github.com/RoboStack/ros-noetic/blob/main/vinca_osx_arm64.yaml#L31-L34 . This will generate a lot of recipes (if you runvinca --multiple), but then you can just build thewebots_rosone to debug.
I had tried just building the webots package, but was having all sorts of issues, but I think I just messed up my environment so I reset all my environments and started again, and now it seems to be building / running successfully with the patch. There's another similar bug related to paths, so I am going to try to patch that too and get them in a PR.
traversaro
commented
7 months ago Thanks! Can you also open an issue upstream at https://github.com/cyberbotics/webots_ros ? From what I understand, any solution would require either hardcoding the path or adding/changing the meaning of the env variable on macOS, and if upstream agrees on that, it would simplify future maintenance.
askman92
commented
7 months ago I've raised the issue on the webots_ros repo, so hopefully they can provide some advice. If they don't come back in a day or two, I'll just raise the PR as in its current state as I have it at least working somewhat
traversaro
commented
7 months ago askman92
commented
7 months ago Nothing back from webots yet so have just created a PR for the original patch for now - #455
Not sure how to link it myself, I'm not sure I have sufficient privileges to do so
Solution to issue cannot be found in the documentation.
Issue
In the launch script for Webots, I believe that the path used to launch the program points to the location of the executable on linux. This needs to be patched to point to
/Applications/Webots.appI tried to patch this locally however had some issues getting the patch to build correctly. I now cannot seem to build the package locally as it is skipped in the vinca file due to existing on the robostack-staging channel.
If I can get some advice on how to do the build locally, I am pretty sure that I can fix this.
Installed packages
Environment info