ubuntu18.04 python3.6.9 opencv4.1.1安装cv-bridge

安装过程：

1.创建单独工作空间

mkdir -p catkin_workspace/src

cd catkin_workspace

catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so

2.指示catkin将内置包安装到安装位置，这一步不成功也没关系，可不用。

catkin config --install

3.在catkin_workspace工作空间中克隆 cv_bridge src

git clone https://github.com/ros-perception/vision_opencv.git src/vision_opencv

4.在存储库中查找cv_bridge的版本， 我是melodic

apt-cache show ros-melodic-cv-bridge | grep Version

5.在git repo中切换正确的版本，我是1.13.1

cd src/vision_opencv/

git checkout 1.13.1

cd ../../

6.编译

catkin build cv_bridge

问题1：

报错cmake那个文件opencv版本是3，解决方法：找到报错的地方，把3改成4

find_package(OpenCV 4 REQUIRED    #这里
  COMPONENTS
    opencv_core
    opencv_imgproc
    opencv_imgcodecs
  CONFIG
)

问题2：

from cv_bridge.boost.cv_bridge_boost import getCvType
ImportError: dynamic module does not define module export function (PyInit_cv_bridge_boost)

解决：

#在cv_bridge/src CMakeLists.txt line 35 change to 
if (OpenCV_VERSION_MAJOR VERSION_EQUAL 4)

In cv_bridge/src/module_opencv3.cpp change signature of two functions：
1:
UMatData* allocate(int dims0, const int* sizes, int type, void* data, size_t* step, int flags, UMatUsageFlags usageFlags) const
to
UMatData* allocate(int dims0, const int* sizes, int type, void* data, size_t* step, AccessFlag flags, UMatUsageFlags usageFlags) const

2：
 bool allocate(UMatData* u, int accessFlags, UMatUsageFlags usageFlags) const
to
bool allocate(UMatData* u, AccessFlag accessFlags, UMatUsageFlags usageFlags) const

再编译就可以