Add Realsense-adjacent library support to macOS - #416
Merged
Tobias-Fischer merged 1 commit intoAug 8, 2026
Conversation
had to fix some flags being invalid when passed to the macOS linker
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
While working on a project that used an Intel Realsense camera, I realized that although librealsense2 support was added for macOS a while back, the supporting libraries for using the Realsense camera in ROS (realsense2-description and realsense2-camera) were not supported on macOS due to a build error someone had come up against while trying to support them.
I got everything building and have been working with the dependencies for a while (realsense2-description in particular has been very useful for having a premade URDF). I rewound RoboStack to the version where the Python 3.11-compatible version of librealsense2 was made (my branch is here), because I needed that for my work. I also made a prefix.dev channel where I've been hosting these for myself (since local packages aren't totally supported yet due to this issue); I can't promise anything about this staying up, but I have no reason to take it down currently.
The change was a fairly simple patch due to some invalid flags that got passed to the macOS linker and some issues finding threading support in CMake. Figured I should contribute, if only to be a resource if someone else comes trying to solve the issue even if this doesn't get merged.
I did edit the vinca file to indicate full macOS support, although I only had an ARM Mac available to test building on. I don't think there should be any reasons for incompatibility here, but I'm open to limiting the scope to just ARM Macs if nobody can test the build on an Intel one.
As a final note, it would be really nice if this somehow could get backported to the Python 3.11-compatible version (the same patch works there, again see this). I don't know what the RoboStack policy is on deploying old versions of things to do this, but just something that would be greatly appreciated if possible.