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One-command ROS 2 Humble dev environment for Apple Silicon Macs

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ZIP 다운로드

- - bug_report.yml
  - config.yml
  - feature_request.yml
- - ci.yml
  - e2e-probe.yml
  - release.yml
  - weekly.yml
- PULL_REQUEST_TEMPLATE.md
- - demo-bridge.gif
  - demo-bridge.mp4
  - demo-workspace-poster.png
  - demo-workspace.gif
  - demo-workspace.mp4
  - favicon.ico
  - README.md
  - rosmac-icon-256.png
  - rosmac-icon.png
  - rosmac-wordmark.jpg
- - e15-real-robot.md
  - e17-nav2.md
  - e20-scope-generalization.md
  - known-issues.md
  - phase0-results.md
  - phase0-spike.md
  - phase1-cli-core.md
  - phase1-results.md
  - phase2-results.md
  - phase2-sim-viz.md
  - phase3-gpu.md
  - phase4-features.md
  - phase4-results.md
  - phase4.5-polish.md
  - phase5-productionize.md
  - phase5-results.md
  - phase6-launch.md
  - phase6-results.md
  - phase7-publication.md
  - phaseE-extras.md
  - repo-settings-checklist.md
- robot-setup.ko.md
- robot-setup.md
- troubleshooting.md
- why-rosmac.md
- workflow.ko.md
- workflow.md
- - package.xml
  - setup.cfg
  - setup.py
- Apache-2.0.txt
- BSD-3-Clause.txt
- - __init__.py
  - assets.py
  - bridge.py
  - cli.py
  - conda.py
  - config.py
  - deps.py
  - doctor.py
  - errors.py
  - lima.py
  - psview.py
  - report.py
  - sim.py
- - README.md
  - test_phase2.sh
  - test_phase4.sh
  - test_smoke.sh
- - test_assets.py
  - test_bridge_args.py
  - test_colcon_defaults.py
  - test_config.py
  - test_deps.py
  - test_doctor_checks.py
  - test_doctor_fix.py
  - test_errors.py
  - test_lima.py
  - test_psview.py
  - test_push.py
  - test_report.py
  - test_sim.py
  - test_uninstall.py
  - test_version.py
.gitignore
AGENTS.md
CHANGELOG.ko.md
CHANGELOG.md
CLAUDE.md
CODE_OF_CONDUCT.md
CONTRIBUTING.md
LICENSE
PLAN.md
pyproject.toml
README.ko.md
README.md
SECURITY.md
THIRD-PARTY-NOTICES.md

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**ROS 2 on your Mac in one command — native rclpy/colcon on macOS, Tier-1 Ubuntu for the heavy stuff, one TCP port between them.**

[한국어 문서 (Korean)](README.ko.md)

A user's own Franka workspace: <code>colcon build</code> on macOS (RoboStack, no Docker), then
<code>ros2 launch</code> with RViz on the Mac. <a href="https://raw.githubusercontent.com/PythonToGo/rosmac/main/docs/assets/demo-workspace.mp4">▶ full clip</a> ·
<a href="https://raw.githubusercontent.com/PythonToGo/rosmac/main/docs/assets/demo-bridge.mp4">▶ Mac↔VM bridge (teleop over one TCP port)</a>

ROS 2 does not really support macOS (Tier 3; Apple Silicon isn't even listed). Existing
workarounds each hit a wall: Docker on macOS has no `--network=host`, so host↔container DDS
discovery is broken by design; plain VMs give up on Mac-side tooling entirely; and while
RoboStack ships surprisingly many osx-arm64 packages, the heavy stack (MoveIt, Gazebo) is
*present but not dependable* there — dylib breakage and runtime crashes are field-measured, not
hypothetical.

rosmac splits the problem instead of fighting it:

```
develop natively on the Mac (RoboStack: rclpy, colcon, ros2 CLI)
        ↕  zenoh bridge — a single TCP port (7447), no DDS multicast at the boundary
run the heavy stack where it's Tier 1 (Lima VM, Ubuntu 22.04 arm64: MoveIt, Gazebo)
        →  visualize on the Mac (Foxglove, ws:8765)
        ⇢  optional: a real robot on your LAN — one more TCP endpoint, same model
           (beta, [docs/robot-setup.md](docs/robot-setup.md))
```

What makes it more than an install script:

- **`rosmac doctor`** — 16 checks for known failure modes, `--fix` auto-repairs the safe ones
  (hung ros2 daemon, orphan bridges, broken lima port rules). Built from a database of
  **29 field-measured macOS/ROS pitfalls**, not a wiki of hope.
- **`rosmac deps`** — maps your workspace's `package.xml` dependencies to RoboStack conda
  packages (a `rosdep` substitute that actually knows about conda).
- **`rosmac push --build`** — anything Linux-only gets copied to the VM and built there.
- **`rosmac report`** — one tar.gz diagnostic bundle for issue reports (collects only from
  `~/.rosmac`).

## Support matrix

| Item | Supported | Notes |
|---|---|---|
| Hardware | Apple Silicon (M1+) | **Intel Macs unsupported** (no way to verify) |
| OS | macOS 14 (Sonoma)+ | measured on macOS 26.x / M3 Pro / 18 GB |
| Python | 3.11+ | measured on 3.12 |
| ROS 2 | Humble (rmw_cyclonedds_cpp pinned on both sides) | VM: Ubuntu 22.04 arm64 |

Versioning: [SemVer](https://semver.org). **While 0.y.z, minor versions may break.**
See [CHANGELOG.md](CHANGELOG.md).

## Requirements

- [Homebrew](https://brew.sh), ≥ 40 GB free disk
- [Foxglove app](https://foxglove.dev/download) (optional, for visualization)

## Quickstart (~6 min measured; +10 min without download caches)

```bash
brew install lima micromamba
git clone https://github.com/PythonToGo/rosmac && cd rosmac
python3.12 -m venv .venv && .venv/bin/pip install -e .
export PATH="$PWD/.venv/bin:$PATH"

rosmac init      # conda env + bridge binary + VM provisioning (idempotent)
rosmac up        # start VM + both zenoh bridges
rosmac doctor    # 16 checks — C8 self-verifies a full topic round-trip
```

Smoke test:

```bash
rosmac shell --vm -c 'nohup ros2 run demo_nodes_cpp talker >/dev/null 2>&1 & echo ok'
rosmac shell -c 'ros2 topic echo /chatter --once'   # VM topic received on the Mac
```

## Simulation presets

```bash
rosmac sim panda-moveit     # MoveIt (Panda arm) — /move_action usable from the Mac
rosmac sim gazebo-diffbot   # Gazebo Fortress headless + front camera
rosmac sim nav2-diffbot     # Nav2 mobile navigation — /navigate_to_pose from the Mac
rosmac sim list / status / stop / --attach
rosmac viz --layout nav2    # Foxglove connection (+ layout import guide)
```

`nav2-diffbot` runs SLAM + Nav2 on a lidar diffbot in a walled arena; drive it
with `/cmd_vel` to build the map, then send `/navigate_to_pose` goals from the Mac.
The full Nav2 stack works over the default bridge — `rosmac sim` resets the bridge
session on start so a new stack gets fresh routes (KI-17).

The native dev loop and a worked example (pick_demo) live in [docs/workflow.md](docs/workflow.md).

## Bring your own workspace

```bash
rosmac deps ~/my_ws --install   # package.xml deps → RoboStack packages (rosdep substitute)
rosmac shell                    # colcon build inside — legacy-CMake pitfalls auto-bypassed
rosmac ps                       # stuck? Mac+VM processes & publishers on one screen
rosmac push ~/my_ws --build     # Linux-only packages (libfranka, …) build in the VM
```

## Commands

| Command | What it does |
|---|---|
| `rosmac init` | deps / conda env / bridge / VM provisioning (idempotent, skips existing) |
| `rosmac up` / `down` / `status` | start/stop/inspect the stack (`--keep-vm`, `--viz`) |
| `rosmac doctor` | 16 checks + remedies (`--json`, `--fix` auto-repairs safe items) |
| `rosmac shell` | subshell with the ROS env injected (`--vm`, `-c`) — colcon defaults included |
| `rosmac deps <ws>` | check/install `package.xml` dependencies (`--install`, `--json`) |
| `rosmac ps` | Mac+VM ROS processes & core-topic publishers (`--json`) |
| `rosmac push <ws>` | copy a workspace into the VM (+`--build`) — for Linux-only packages |
| `rosmac sim <preset>` | start a sim preset in the VM (tmux) + health gate |
| `rosmac viz` | start foxglove_bridge + app deep link |
| `rosmac report` | diagnostic bundle for issues (never collects outside `~/.rosmac`) |
| `rosmac uninstall` | remove everything rosmac created (conda env, VM, `~/.rosmac`) |

Exit codes:

| code | meaning | examples |
|---|---|---|
| 0 | success | |
| 1 | execution failure (environment/state) | VM not running, conda env missing, bridge/build failure |
| 2 | usage/config error (fix your input) | unknown preset/layout, workspace without `src/`, broken config.yaml |

Errors are shown as a cause + fix panel; only unexpected errors show a traceback
(attach a `rosmac report` bundle when filing those).

## Measured performance (M3 Pro, 2026-07)

- Bridge throughput: 10.3 MB/s (1 MB @ 10 Hz, no drops)
- MoveGroup action round-trip: plan+execute, 3 consecutive goals SUCCEEDED
- Nav2 `/navigate_to_pose` from the Mac: 3 consecutive goals SUCCEEDED (default bridge)
- Gazebo Fortress headless RTF: physics-only 1.00 / with camera (320×240 @ 15 Hz) 0.99
- Camera stream: VM 14.4 fps → Mac 14.4 fps (lossless)

## Bridge capability matrix (measured 2026-07)

What works across the Mac ↔ VM zenoh bridge:

| ROS 2 feature | Status | Measured evidence / notes |
|---|---|---|
| Topics | ✅ | pub/sub both directions; 10.3 MB/s @ 10 Hz no drops. First subscription to a new topic takes a few seconds (bridge route creation) |
| Services | ✅ | requires the pinned CycloneDDS RMW — with Fast DDS, discovery looks fine but every call times out (KI-16; why rosmac pins the RMW) |
| Actions | ✅ | MoveGroup plan+execute, 3/3 goals SUCCEEDED; Nav2 `/navigate_to_pose` 3/3 SUCCEEDED from the Mac (full stack, default bridge) |
| Parameters | ⚠️ partial | raw parameter services (`get/set_parameters`, …) work via `ros2 service call`; the `ros2 param` CLI does **not** — the bridge doesn't mirror remote nodes into the node graph, so `ros2 node list` won't show VM nodes |
| rosbag2 | ✅ | record on Mac of VM topics (no loss), record in VM, play from either side reaches the other. Retrieve VM bags with `limactl cp -r rosmac:/path ~/dest` (D16) — see [docs/workflow.md](docs/workflow.md) |
| Robot link (LAN) | 🧪 beta | `robot:` config → Mac bridge adds a TCP endpoint to a robot-side bridge (D15). Topics/services measured against a surrogate robot (2nd VM): 10 MB/s @ 10 Hz no drops, service RTT < 1 ms, auto-reconnect on robot restart. **Surrogate-verified** — real-hardware/WiFi numbers pending ([E.15 R5](docs/plan/e15-real-robot.md)). Setup: [docs/robot-setup.md](docs/robot-setup.md). **Trusted LAN only** — plaintext TCP, no auth/TLS |

Structural limits (by design, not bugs):

- **A stale bridge silently breaks a fresh stack (KI-17).** Restarting the VM
  sim stack while the bridge keeps running leaves stale routes behind, so the new
  stack's action sub-services fail to discover from the Mac (measured: 0/6, then
  4/4 after a bridge restart). `rosmac sim` resets the bridge session on start to
  avoid this — the full Nav2 stack then works over the default bridge, no scoping.
- **Every Mac↔VM message crosses one bridge hop.** Fine for dev, teleop and
  visualization; high-rate closed control loops belong inside the VM (or on
  the robot).
- **macOS-local DDS discovery can be silently degraded by *other* lima VMs**
  that lack UDP ignore rules (KI-28). rosmac's own VM ships the rules;
  see [known-issues KI-28](docs/plan/known-issues.md) for the remedy.
- **The VM is headless (D2)** — no RViz2/GUI inside; Foxglove on the Mac is
  the visualization path (`rosmac viz`).

## Architecture & design decisions

- **Why not just use Docker / a full VM / RoboStack alone:** [docs/why-rosmac.md](docs/why-rosmac.md)
- Decision log and risk register: [PLAN.md](PLAN.md)
- When stuck: [docs/troubleshooting.md](docs/troubleshooting.md) (common failure modes + fix commands),
  backed by the field-measured [known-issues database](docs/plan/known-issues.md) (30 pitfalls)

## Contributing

Bug reports (with a `rosmac report` bundle), pitfall contributions, and PRs
within scope are welcome — see [CONTRIBUTING.md](CONTRIBUTING.md) and the
[Code of Conduct](CODE_OF_CONDUCT.md). Security issues: [SECURITY.md](SECURITY.md).

## License

[MIT](LICENSE). Bundled simulation presets are adapted from Apache-2.0 / BSD-3-Clause
upstream ROS and Gazebo examples — see [THIRD-PARTY-NOTICES.md](THIRD-PARTY-NOTICES.md).

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