# Ros2 on MacOS AArch64(arm64) Note
`update date: 2024/07/21`

## Environment
- Mac: MacAir2020(M1)
- MacOS versoin: Sonoma 14.5
- python: 3.11 with conda virtual environment

## References

1. [RoboStack](https://robostack.github.io/GettingStarted.html#__tabbed_4_1)
2. [Current support packages list for ros-humble](https://robostack.github.io/humble.html)
3. [Video explain](https://youtu.be/GEgVpdZj3tY?si=oP8kyd2wyUfK1f9A)
## Steps

1. [Install brew](https://brew.sh/zh-tw/)

/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"

2. [Install conda/miniconda](https://docs.anaconda.com/miniconda/#quick-command-line-install)

mkdir -p ~/miniconda3
curl https://repo.anaconda.com/miniconda/Miniconda3-latest-MacOSX-arm64.sh -o ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
rm -rf ~/miniconda3/miniconda.sh

#zsh user
~/miniconda3/bin/conda init zsh
#bash user
~/miniconda3/bin/conda init bash

3. Create virtual python environment of python

conda create -n ros_env python=3.11
conda activate ros_env
# this adds the conda-forge channel to the new created environment configuration 
conda config --env --add channels conda-forge
# and the robostack channel
conda config --env --add channels robostack-staging
# remove the defaults channel just in case, this might return an error if it is not in the list which is ok
conda config --env --remove channels defaults

4. Download ROS/ROS2

# Install ros-noetic into the environment (ROS1)
conda install ros-noetic-desktop

# Install ros-humble into the environment (ROS2)
conda install ros-humble-desktop

> reactivate

conda deactivate
conda activate ros_env

5. Test

# ros2
rviz2 # open rviz2 
ros2 run turtlesim turtlesim_node