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mini-1235
marked this pull request as draft
November 2, 2026 08:20
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Ah sorry I think this only partially fixes the issue, let me dig into it xref: https://discord.com/channels/1082332781146800168/1566567033590775949/1566567033590775949 |
Vendored Ogre lives in opt/rviz_ogre_vendor/lib but identifies itself as @rpath/..., so any library or executable without an RPATH to that private directory fails to load, such as moveit_setup_assistant. Give Ogre absolute install names, which packaging rewrites to the install prefix, and rebuild every package whose released macOS binaries reference it. Co-Authored-By: Claude Opus 5.5 <[email protected]> Signed-off-by: Maurice <[email protected]>
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@traversaro @Tobias-Fischer I believe this fixes the issue reported in discord, but I am not sure if this is the cleanest solution. Could you please take a look? |
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That's one for our cmake guru @traversaro .. |
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Problem
On macOS, vendored Ogre is installed in
opt/rviz_ogre_vendor/libbut identifies itself as@rpath/libOgreMain_rviz.1.12.10.dylib. Any binary without an RPATH to that private directory fails to load.rviz2has one, which hides the issue.moveit_setup_assistantdoes not:rviz_ogre_vendoris the only vendor package here with libraries inopt/; thegz_*vendors use conda-forge packages inlib/.Change
ros2-rviz-ogre-vendor.osx.patchto Jazzy, Lyrical and Rolling. It setsCMAKE_INSTALL_NAME_DIRandCMAKE_MACOSX_RPATH=OFFfor Ogre, so consumers record the absolute path. Packaging rewrites it to the install prefix.rviz_ogre_vendorand the packages that link it. The list comes from scanning theotool -Loutput of released osx-arm64 packages, because metadata is not reliable here:moveit_ros_visualizationonly declaresrviz2. The bumps rebuild these packages on every platform, though the patch only applies on macOS.Consumers not rebuilt keep the old
@rpathreference, so they behave as they do today.Validation
check-patchesforros2-rviz-ogre-vendorandpixi run rs checkpass.rviz-ogre-vendor,rviz-rendering,rviz-common,rviz-default-pluginsandmoveit-ros-visualization, on all three distros.ros2 launch moveit_setup_assistant setup_assistant.launch.pycrashes with released Jazzy packages. With this change it opens on Jazzy, Lyrical and Rolling, confirmed by capturing the app window. A Lyrical/Rolling run without this change was not repeated.rviz2stays running on Lyrical and Rolling.Not tested: osx-64, the other bumped packages, loading a robot in Setup Assistant, the 3D view, or
rviz2on Jazzy with this change.Screenshots
moveit_setup_assistantwith this change:Jazzy
Lyrical
Rolling
An upstream
ros2/rvizPR is still to come; this patch can be dropped once that is released.This description was AI-generated by Claude Opus 5.5.
🤖 Generated with Claude Code