Hi John, I haven't actually coded anything. Its mainly been an exercise in configuring various macports and dependencies. The only source code change that I've made is to change the #defines for __WXMAC__ to __APPLE__ (which someone else had already pointed out). However, getting past the point I'm currently at does look like it will need some genuine code changes. If I do manage to work anything out I'll definitely make these changes available. Dave On 22/03/2011, at 12:33 PM, John Muccigrosso wrote: > Dave, > > Is your code available for others to play with? > > John > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users