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Introduction

Building on Mac OS is totally experimental and not that useful. We strongly recommend to use Ubuntu Linux LTS with ROS.

When building for Mac OS, one can use the dVRK stack with simulated arms (in kinematic mode) and potentially with the real arms with the ethernet interface (Local Link). The ethernet interface requires firmware version 7 or higher AND controllers with a physical network interface. Even with the network interface, the Mac OS build is lacking the current features:

  • ROS. The code will run but you will need to use something like sawsSocketStreamer or sawOpenIGTLink as middleware
  • Potentiometer calibration and gravity compensation identification (calibration programs are using ROS)
  • catkin build
  • ...

Requirements

Build

The current process is not automated. It might be possible to install the programs wstool and catkin since both are Python based but I didn't try. The build is performed in steps and each step requires to configure (CMake), build and install. I prefer "Unix Makefiles" but one could probably use Xcode projects.

Get the code

mkdir ~/dVRK
cd ~/dVRK
clone /~https://github.com/jhu-cisst/cisst-saw.git --recursive

As of December 2020, you need to use the devel branches to compile on Mac OS:

cd ~/dVRK/cisst-saw
git submodule foreach git checkout devel
git submodule foreach git pull origin devel
git submodule foreach git submodule init
git submodule foreach git submodule update

cisstNetlib

When using CMake, pick the generator "Unix Makefiles" and select "Specify native compilers". In the next window, specify the "Fortran" compiler only. If you've installed the compiler mentioned above, it should be /usr/local/bin/gfortran. For CMake, use the source directory /Users/you/dVRK/cisst-saw/cisstNetlib. Please note that you in /Users/you should be replaced by your login name.

In CMake, change:

  • CMAKE_BUILD_TYPE to Release
  • CMAKE_INSTALL_PREFIX to /Users/you/dVRK/install

Then in CMake, configure and generate. In the build tree, build using make and then install with make install.

cisst/SAW

In CMake, use the generator "Unix Makefiles" and the source tree should be /Users/you/dVRK/cisst-saw.

In CMake, change the following settings (for reference, the GitHub workflow uses a CMake config file):

  • CMAKE_BUILD_TYPE to Release
  • CMAKE_INSTALL_PREFIX to /Users/you/dVRK/install
  • CISSTNETLIB_DIR to /Users/you/dVRK/install
  • CISSTNETLIB_USE_LOCAL_INSTALL checked
  • Cisstnetlib_DIR to /Users/you/dVRK/install/cmake
  • CISST_HAS_QT5 checked - you will also need to set all the Qt paths, e.g. Qt5Core_DIR set to /Users/you/Qt/5.15.2/clang_64/lib/cmake/Qt5Core
  • CISST_USE_EXTERNAL checked
  • CISST_HAS_JSON checked
  • CISST_USE_SI_UNITS checked
  • CISST_BUILD_SHARED_LIB checked
  • CISST_cisstRobot checked
  • SAW_sawControllers checked
  • SAW_sawIntuitiveResearchKit checked
  • SAW_sawRobotIO1394 checked

You should be able to configure and generate in CMake. In your build tree for cisst-saw, make -j. No need to install.

Run the code

In your build tree for cisst-saw, you will need to set some environment variables:

source cisst/cisstvars.sh
export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:/Users/you/dVRK/build/cisst-saw/cisst/cisstReflexxesTypeII/lib

The last command is to find the shared libraries for Reflexxes. The path will depend on where you built cisst-saw.

Then go in your source tree:

cd ~/dVRK/cisst-saw/sawIntuitiveResearchKit/share/console
sawIntuitiveResearchKitQtConsoleJSON -j console-full-system-simulated.json

Screenshots

  • qladisp
  • Console with simulated PSM
  • Console with actual PSM over UDP