RSDK-2890: Find OpenSSL correctly on MacOS (#69)

Co-authored-by: Katharina Xenia Kufieta <katharina.kufieta@gmail.com>

.github/workflows/pullrequest-trusted.yml

@@ -19,7 +19,7 @@ jobs:
     if: github.event.label.name == 'safe to test' || 
       contains(github.event.pull_request.labels.*.name, 'appimage') || 
       contains(github.event.pull_request.labels.*.name, 'appimage-ignore-tests')
-    uses: viamrobotics/viam-cartographer/.github/workflows/test.yml@main
+    uses: viamrobotics/viam-cartographer/.github/workflows/test.yml@RSDK-2890
 
   # This lets people add an "appimage" tag to have appimages built for the PR
   appimage:
@@ -28,14 +28,14 @@ jobs:
       always() && !cancelled() && contains(github.event.pull_request.labels.*.name, 'safe to test') &&
       !contains(github.event.pull_request.labels.*.name, 'appimage-ignore-tests') &&
       contains(github.event.pull_request.labels.*.name, 'appimage') && needs.test.result == 'success'
-    uses: viamrobotics/viam-cartographer/.github/workflows/appimage.yml@main
+    uses: viamrobotics/viam-cartographer/.github/workflows/appimage.yml@RSDK-2890
     secrets:
       GCP_CREDENTIALS: ${{ secrets.GCP_CREDENTIALS }}
 
   appimage-ignore-tests:
     if: |
        always() && !cancelled() && contains(github.event.pull_request.labels.*.name, 'safe to test') &&
        contains(github.event.pull_request.labels.*.name, 'appimage-ignore-tests')
-    uses: viamrobotics/viam-cartographer/.github/workflows/appimage.yml@main
+    uses: viamrobotics/viam-cartographer/.github/workflows/appimage.yml@RSDK-2890
     secrets:
       GCP_CREDENTIALS: ${{ secrets.GCP_CREDENTIALS }}

Makefile

@@ -5,13 +5,10 @@ GIT_REVISION = $(shell git rev-parse HEAD | tr -d '\n')
 TAG_VERSION?=$(shell git tag --points-at | sort -Vr | head -n1)
 GO_BUILD_LDFLAGS = -ldflags "-X 'main.Version=${TAG_VERSION}' -X 'main.GitRevision=${GIT_REVISION}'"
 
-set-pkg-config-openssl:
-	pkg-config openssl || export PKG_CONFIG_PATH=$$PKG_CONFIG_PATH:`find \`which brew > /dev/null && brew --prefix\` -name openssl.pc | head -n1 | xargs dirname`
-
 bufinstall:
 	sudo apt-get install -y protobuf-compiler-grpc libgrpc-dev libgrpc++-dev || brew install grpc openssl --quiet
 
-bufsetup: set-pkg-config-openssl
+bufsetup:
 	GOBIN=`pwd`/grpc/bin go install github.com/bufbuild/buf/cmd/buf@v1.8.0
 	ln -sf `which grpc_cpp_plugin` grpc/bin/protoc-gen-grpc-cpp
 
@@ -68,14 +65,13 @@ lint-go:
 
 lint: ensure-submodule-initialized lint-cpp lint-go
 
-setup: ensure-submodule-initialized set-pkg-config-openssl
+setup: ensure-submodule-initialized
 ifeq ("Darwin", "$(shell uname -s)")
 	cd viam-cartographer/scripts && ./setup_cartographer_macos.sh
 else
 	cd viam-cartographer/scripts && ./setup_cartographer_linux.sh
 endif
 
-
 build: build-module
 ifneq ($(wildcard viam-cartographer/cartographer/build/.),)
 	cd viam-cartographer && ./scripts/build_viam_cartographer.sh 

README.md

@@ -88,7 +88,7 @@ These containers are set to persist between sessions via the `persistent` parame
 make bufinstall && make buf 
 # Install dependencies
 make setup
-# Build the binary
+# Build & install the binary
 make build
 # Install lua files
 make install-lua-files

viam-cartographer/scripts/build_viam_cartographer.sh

@@ -6,6 +6,7 @@ if [ "$(uname)" == "Linux" ]; then
 elif [ "$(uname)" == "Darwin" ]; then
     readlinkorreal() { readlink "$1" || echo "$1"; }
     cd $(dirname string readlinkorreal "${BASH_SOURCE}")/..
+    which brew && export PKG_CONFIG_PATH="$PKG_CONFIG_PATH:`brew --prefix openssl@3`/lib/pkgconfig"
 else
     echo ERROR: your OS is not handled yet
     exit 1

viam-cartographer/scripts/setup_cartographer_macos.sh

@@ -2,8 +2,7 @@
 echo "Installing cartographer external dependencies"
 brew update
 brew upgrade
-brew install abseil boost ceres-solver protobuf ninja cairo googletest lua@5.3
+brew install abseil boost ceres-solver protobuf ninja cairo googletest lua@5.3 pkg-config cmake go@1.20 grpc 
 brew link lua@5.3
-brew install openssl eigen gflags glog suite-sparse sphinx-doc pcl
+brew install openssl@3 eigen gflags glog suite-sparse sphinx-doc pcl
 brew link protobuf
-brew link openssl --force