Build on Mac studio M1 Max

[zegangYang]

Describe the Bug build got link error Steps to Reproduce

1. source ~/ros2_galatic/install/local_setup.zsh
2. follow build on macOS steps but use these settings

colcon build \
  --symlink-install \
  --merge-install \
  --event-handlers console_cohesion+ console_package_list+ \
  --packages-skip-build-finished \
  --cmake-args \
    --no-warn-unused-cli \
    -DBUILD_TESTING=OFF \
    -DINSTALL_EXAMPLES=ON \
    -DCMAKE_OSX_SYSROOT=/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk \
    -DCMAKE_OSX_ARCHITECTURES="arm64"

Expected behavior Build and link properly

Affected Packages List of affected packages:

• webots_ros2_driver

Screenshots xx try to link x86_64 (no symbols of arm64) System

• Webots Version: R2022a
• ROS Version: galatic
• Operating System: macOS Monterey
• Graphics Card: Apple Internal GPU

Additional context Add any other context about the problem here.

And I will give some solutions and detail later. And webots with ros2 works fine on m1 Max cpu (arm64)

[zegangYang]

build webots-libcontroller

since webots-libcontroller only provide x86_64 libs but m1 Mac need arm64

clone webots repo

git clone https://github.com/cyberbotics/webots.git
cd webots.git
git submodule init
git submodule update --recursive

make some changes of Makefile

since QtWebEngine disabled when install qt@5 from brew , we actually only need arm64 webots-libcontroller dylib so skip webots qt project

diff --git a/Makefile b/Makefile
index d0bf78133..8f8d6b29b 100644
--- a/Makefile
+++ b/Makefile
@@ -116,11 +116,11 @@ endif
        @+echo "#"; echo "# * wren *"; echo "#"
        @+make --silent -C src/wren $(TARGET)
        @+echo "#"; echo "# * webots (core) *"; echo "#"
-       @+make --silent -C src/webots $(TARGET)
+#      @+make --silent -C src/webots $(TARGET)
        @+echo "#"; echo "# * controller library *"; echo "#"
        @+make --silent -C src/controller $(TARGET) WEBOTS_HOME="$(WEBOTS_HOME)"
        @+echo "#"; echo "# * resources *";
-       @+make --silent -C resources $(MAKECMDGOALS) WEBOTS_HOME="$(WEBOTS_HOME)"
+#      @+make --silent -C resources $(MAKECMDGOALS) WEBOTS_HOME="$(WEBOTS_HOME)"
        @+echo "#"; echo "# * projects *";
        @+make --silent -C projects $(TARGET) WEBOTS_HOME="$(WEBOTS_HOME)"

build

make -j2

copy libraries

cp webots/lib/controller/*.dylib webots_ros2_driver/webots/lib/darwin19/

build webots_ros2

build

follow the install guide

quick fix PythonLibs error(python3.9)

diff --git a/webots_ros2_driver/CMakeLists.txt b/webots_ros2_driver/CMakeLists.txt
index a803306..a2f7e87 100644
--- a/webots_ros2_driver/CMakeLists.txt
+++ b/webots_ros2_driver/CMakeLists.txt
@@ -17,7 +17,10 @@ find_package(vision_msgs REQUIRED)
 find_package(webots_ros2_msgs REQUIRED)
 find_package(tinyxml2_vendor REQUIRED)
 find_package(TinyXML2 REQUIRED)
-find_package(PythonLibs 3.8 EXACT REQUIRED)
+find_package(PythonInterp REQUIRED)
+find_package(PythonLibs ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR} EXACT REQUIRED)
+find_package(Python3 REQUIRED COMPONENTS Development NumPy)
+

 if (UNIX AND NOT APPLE)
   set(WEBOTS_LIB_BASE webots/lib/linux-gnu)
@@ -112,9 +115,10 @@ ament_target_dependencies(driver
   tinyxml2_vendor
   TinyXML2
 )
+
 target_link_libraries(driver
   ${WEBOTS_LIB}
-  ${PYTHON_LIBRARIES}
+  ${Python3_LIBRARIES}
 )
 install(
   DIRECTORY include/

quick fix some lost python packages

python3 -m pip install pyclibrary
python3 -m pip install netifaces