The px4-sim / px4-sim-gazebo Homebrew meta-formulae can no longer
pull their Gazebo dependency chain because Homebrew 4.5+ stopped
auto-resolving cross-tap deps. PX4/homebrew-px4#104 already
deprecated px4-dev into a no-op; #111 does the same for the sim
formulae. This PR is the PX4-side counterpart: move the sim install
into Tools/setup/macos.sh with an explicit package list and tap
registration, mirroring the pattern already used for the toolchain
block. Adds xquartz install on --sim-tools.
Beyond install, three runtime and configure gaps kept make px4_sitl
gz_x500 from working on a clean macOS:
- gz-gui8 (pulled in by gz-sim8) links against Qt5, but Homebrew's
qt@5 is keg-only so CMake cannot find it. Add a POSIX-scoped hint
in platforms/posix/cmake/px4_impl_os.cmake that resolves
brew --prefix qt@5 and appends it to CMAKE_PREFIX_PATH. No-ops on
non-APPLE builds and respects a user-set Qt5_DIR.
- On macOS, dyld does not search /opt/homebrew/lib by default.
gobject-introspection typelibs reference libs by bare basename,
causing gst-plugin-scanner to fail to load plugins and adding
~90s of timeout to Gazebo's cold start. Set
DYLD_FALLBACK_LIBRARY_PATH to the Homebrew prefix lib dir in
gz_env.sh so the bridge launch inherits it. Darwin-scoped, no
effect on Linux or CI.
- configure_file on gz_env.sh.in now uses @ONLY so shell ${VAR}
references pass through untouched.
Verified locally on macOS 26.4 / arm64 / Homebrew 5.1.7: configure
clean, 1119/1119 targets compile and link, vehicle spawns in
Gazebo Harmonic 8.11.0 with a single "Waiting for Gazebo world"
wait (was ~18 before the dyld fix).
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Homebrew 4.5 (April 2026) stopped auto-tapping cross-tap
dependencies declared in formulae, as a security + performance
change. The px4-dev meta-formula pulled in packages from
osx-cross/arm, PX4/px4, and discoteq/discoteq, so 'brew install
px4-dev' now aborts before any real work unless every tap has been
added explicitly. On macos-latest CI runners the chain broke at the
first unreachable dep (discoteq/discoteq/flock) and subsequent make
steps failed with 'ccache: command not found'.
Since Tools/setup/macos.sh is the canonical install path and already
tapped osx-cross/arm and PX4/px4 before calling brew install, the
simplest fix is to inline the package list and call brew install
directly. The px4-dev meta-formula will be kept upstream as a
deprecated no-op so older copies of macos.sh on long-lived branches
and cached Docker images keep working.
The inlined package list is the same set px4-dev depended on, minus
the dead-weight flock dependency that hadn't been invoked in the PX4
build since the NuttX 9.1.x era. See the accompanying PX4/homebrew-px4
PR for formula changes.
Docs updated to match: docs/en/dev_setup/dev_env_mac.md no longer
names the px4-dev formula, describes the package list directly.
Verified locally on macOS ARM64:
- ./Tools/setup/macos.sh runs to completion with both taps and all 13
packages resolving correctly
- make distclean && make px4_fmu-v6x_default builds successfully
(1250/1250 ninja steps, 1930096 B FLASH used)
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* Initial changes
* index fix
* gz index fix2
* gz index fix 3
* updates
* Run prettier
* zsh env
removed gz classic
* Corrections 2
* Cleanups
* Update docs/en/dev_setup/dev_env_mac.md
* Apply suggestions from code review
* Minor subedit and prettier
* small correction
* cleanups gz harmonic brew formula
* fix(macos.sh): invert px4-sim install condition for --sim-tools
The condition checked if px4-sim WAS installed before running
brew install, meaning it would never install on a fresh system.
Add the missing negation so it installs when NOT already present.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* docs: rewrite macOS dev environment setup guide
- Add Xcode Command Line Tools as prerequisite
- Default to ~/.zshrc (macOS default since Catalina)
- Explain why ulimit change is needed and why in startup file
- Add reminder to open new terminal after shell config changes
- Remove broken pip3 alias workaround
- Split git clone into clone + submodule update (canonical form)
- Recommend --sim-tools flag since first build uses gz_x500
- Document what macos.sh installs and its --reinstall flag
- Clarify Gazebo comes from --sim-tools / px4-sim formula
- Add XQuartz requirement for Gazebo display
- Add verification section with key tool checks and smoke test
- Remove outdated video guide comment block
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* conventions
---------
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
Ramon Roche
Kristiyan Dimitrov
Farhang
Julian Oes
Daniel Agar
Peter van der Perk