Update to build Lunar + QT5 + Ogre 1.9 + Gazebo 8

[mikepurvis]

A bunch of issues have accumulated here around how to build ROS with Homebrew now that they've made the following changes:

• QT4 is no longer a thing.
• QT5 is a "keg only" formula.
• The brewed python formula now supplies bin/python2 but not bin/python (and likewise with pip2/pip).

I'm putting up the PR as a work in progress for interested parties to hack on. The current state of affairs is that the build dies at qt_qui_cpp due to sip/shiboken shenanigans, and it dies at opencv3 if and only if QT5 is force-linked (should we just install the homebrew opencv3 bottle?), and if you make it past all that, nodelet_tutorial_math has C++11 ABI issues:

Errors     << nodelet_tutorial_math:make /Users/mikepurvis/ros-install-osx/lunar_desktop_full_ws/logs/nodelet_tutorial_math/build.make.000.log
In file included from /Users/mikepurvis/ros-install-osx/lunar_desktop_full_ws/src/common_tutorials/nodelet_tutorial_math/src/plus.cpp:30:
In file included from /opt/ros/lunar/include/pluginlib/class_list_macros.h:40:
In file included from /opt/ros/lunar/include/class_loader/class_loader.h:33:
In file included from /usr/local/include/boost/shared_ptr.hpp:17:
In file included from /usr/local/include/boost/smart_ptr/shared_ptr.hpp:23:
In file included from /usr/local/include/boost/config/no_tr1/memory.hpp:21:
In file included from /Library/Developer/CommandLineTools/usr/bin/../include/c++/v1/memory:610:
/Library/Developer/CommandLineTools/usr/bin/../include/c++/v1/cstring:79:9: error: no member named 'strcoll' in the global namespace
using ::strcoll;
      ~~^

This failure looks like it has a solution via the discussion in #73.

[mikepurvis]

Current issue has to do with QT5's cmake find module:

Errors     << turtlesim:cmake /Users/mikepurvis/ros-install-osx/lunar_desktop_full_ws/logs/turtlesim/build.cmake.000.log                
CMake Error at /usr/local/lib/cmake/Qt5Core/Qt5CoreConfig.cmake:15 (message):
  The imported target "Qt5::Core" references the file

     "/usr/local/.//mkspecs/macx-clang"

  but this file does not exist.  Possible reasons include:

  * The file was deleted, renamed, or moved to another location.

  * An install or uninstall procedure did not complete successfully.

  * The installation package was faulty and contained

     "/usr/local/lib/cmake/Qt5Core/Qt5CoreConfigExtras.cmake"

  but not all the files it references.

Call Stack (most recent call first):
  /usr/local/lib/cmake/Qt5Core/Qt5CoreConfigExtras.cmake:50 (_qt5_Core_check_file_exists)
  /usr/local/lib/cmake/Qt5Core/Qt5CoreConfig.cmake:167 (include)
  /usr/local/lib/cmake/Qt5Gui/Qt5GuiConfig.cmake:83 (find_package)
  /usr/local/lib/cmake/Qt5Widgets/Qt5WidgetsConfig.cmake:83 (find_package)
  CMakeLists.txt:6 (find_package)

[mikepurvis]

Issue there was with doing brew link on QT5, since it expects to find those mkspecs files in a path relative to its cmake scripts. Setting CMAKE_PREFIX_PATH to point to the cellar location instead resolves it. Unfortunately, jumping back to qt_gui_cpp, there's still a sip error:

Errors     << qt_gui_cpp:make /Users/mikepurvis/ros-install-osx/lunar_desktop_full_ws/logs/qt_gui_cpp/build.make.000.log                                                                   
dyld: warning, LC_RPATH @executable_path/Frameworks in /usr/local/lib/python2.7/site-packages/PyQt5/QtCore.so being ignored in restricted program because of @executable_path
dyld: warning, LC_RPATH @executable_path/Frameworks in /usr/local/opt/qt/lib/QtCore.framework/Versions/5/QtCore being ignored in restricted program because of @executable_path
sip: Deprecation warning: qt_gui_cpp.sip:1: %Module version number should be specified using the 'version' argument
sip: Unable to find file "QtCore/QtCoremod.sip"
Traceback (most recent call last):
  File "/opt/ros/lunar/share/python_qt_binding/cmake/sip_configure.py", line 78, in <module>
    subprocess.check_call(cmd)
  File "/System/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/subprocess.py", line 540, in check_call
    raise CalledProcessError(retcode, cmd)
subprocess.CalledProcessError: Command '['/usr/local/Cellar/sip/4.19.3_4/bin/sip', '-c', '/Users/mikepurvis/ros-install-osx/lunar_desktop_full_ws/build/qt_gui_cpp/sip/qt_gui_cpp_sip', '-b', '/Users/mikepurvis/ros-install-osx/lunar_desktop_full_ws/build/qt_gui_cpp/sip/qt_gui_cpp_sip/pyqtscripting.sbf', '-I', '/usr/local/share/sip/PyQt5', '-w', '-x', 'VendorID', '-t', 'WS_MACX', '-t', 'Qt_5_9_1', '-x', 'Py_v3', 'qt_gui_cpp.sip']' returned non-zero exit status 1
make[2]: *** [sip/qt_gui_cpp_sip/Makefile] Error 1
make[1]: *** [src/qt_gui_cpp_sip/CMakeFiles/libqt_gui_cpp_sip.dir/all] Error 2
make: *** [all] Error 2

At least on my system, the file it's looking for is in /usr/local/opt/pyqt/share/sip/Qt5. When I make this change:

mkdir -p /usr/local/share/sip
ln -s /usr/local/opt/pyqt/share/sip/Qt5 /usr/local/share/sip/PyQt5

Then qt_gui_cpp is able to build, but obviously I'd like to figure out how to solve this not by creating random symlinks.

[mikepurvis]

Okay, everything up to rviz is building now. It's having this issue:

In file included from /Users/mikepurvis/ros-install-osx/lunar_desktop_full_ws/src/rviz/src/image_view/main.cpp:42:
In file included from /Users/mikepurvis/ros-install-osx/lunar_desktop_full_ws/src/rviz/src/image_view/image_view.h:33:
In file included from /Users/mikepurvis/ros-install-osx/lunar_desktop_full_ws/src/rviz/src/rviz/image/ros_image_texture.h:35:
In file included from /usr/local/Cellar/ogre1.9/1.9-20160714-108ab0bcc69603dba32c0ffd4bbbc39051f421c9_4/include/OGRE/OgreTexture.h:33:
In file included from /usr/local/Cellar/ogre1.9/1.9-20160714-108ab0bcc69603dba32c0ffd4bbbc39051f421c9_4/include/OGRE/OgreResource.h:34:
In file included from /usr/local/Cellar/ogre1.9/1.9-20160714-108ab0bcc69603dba32c0ffd4bbbc39051f421c9_4/include/OGRE/OgreStringInterface.h:35:
In file included from /usr/local/Cellar/ogre1.9/1.9-20160714-108ab0bcc69603dba32c0ffd4bbbc39051f421c9_4/include/OGRE/Threading/OgreThreadHeaders.h:34:
In file included from /usr/local/Cellar/ogre1.9/1.9-20160714-108ab0bcc69603dba32c0ffd4bbbc39051f421c9_4/include/OGRE/Threading/OgreThreadHeadersBoost.h:48:
In file included from /usr/local/include/boost/thread/recursive_mutex.hpp:16:
In file included from /usr/local/include/boost/thread/pthread/recursive_mutex.hpp:23:
/usr/local/include/boost/thread/pthread/pthread_mutex_scoped_lock.hpp:33:26: error: expected member name or ';' after declaration specifiers
            void check() BOOST_NOEXCEPT
            ~~~~         ^
/usr/local/include/boost/config/detail/suffix.hpp:959:26: note: expanded from macro 'BOOST_NOEXCEPT'
#  define BOOST_NOEXCEPT noexcept
                         ^

Looks to be specific to the check function name: https://stackoverflow.com/questions/31665095/xcode-error-compiling-c-expected-member-name-or-after-declaration-specifie

[mikepurvis]

I'll push these changes upstream into rosdistro's rosdep.

[mikepurvis]

ros/rosdistro#16130

[mikepurvis]

This isn't actually necessary; it's present here:

https://github.com/ros/rosdistro/blob/57b647e17fe1307391a9e94e2352ee401101c059/rosdep/python.yaml#L1293-L1295

[mikepurvis]

Okay, all of desktop_full builds. Now the main issue is that the python script shebang lines are ending up pointing at /usr/bin/python for reasons that are not totally clear to me. But it looks like it should be possible to just set PYTHON_EXECUTABLE, if I'm reading this correctly.

[mikepurvis]

Seems to be working across some basic smoke tests. Woo!