ROS cv_bridge

cv_bridge把ROS 的数据格式转为OpenCV可以使用的数据格式，是一个提供ROS和OpenCV库提供之间的接口的开发包。

报错

CMake Error at /opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake:110 (message):
  Project 'cv_bridge' specifies '/usr/include/opencv' as an include dir,
  which is not found.  It does neither exist as an absolute directory nor in
  '/opt/ros/indigo//usr/include/opencv'.  Ask the maintainer 'Vincent Rabaud
  <vincent.rabaud@gmail.com>' to fix it.

原因

主要是/opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake的配置问题。
由于该文件默认我们是没有读写权限的，所以首先必须获取读写权限。

解决

step1 获取cv_bridgeConfig.cmake（路径为/opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake）的读写权限：

sudo chmod 777 -R /opt/ros/indigo/share/cv_bridge

step2 修改cv_bridgeConfig.cmake

首先打开cv_bridgeConfig.cmake

sudo gedit /opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake

然后将94-96行的内容

if(NOT "include;/usr/include/opencv;/usr/include " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "include;/usr/include/opencv;/usr/include")

改为

if(NOT "include;/usr/local/include/opencv" STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "/usr/local/include/opencv;/usr/include;/usr/local/include")

step3 保存之后，重新catkin_make，大功告成！