1、先说一下报错的过程(着急看解决过程的直接看第二点):
首先,在使用OpenCV时候,报错如下:
[ERROR] [1663728000.010723, 6019.022000]: bad callback: <function img_save_callback at 0x7f6d43f24d90>
Traceback (most recent call last):
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "with_RL_change.py", line 99, in img_save_callback
image_message = cv_bridge.cv2_to_imgmsg(img, "bgr8")
File "/opt/ros/melodic/lib/python2.7/dist-packages/cv_bridge/core.py", line 259, in cv2_to_imgmsg
if self.cvtype_to_name[self.encoding_to_cvtype2(encoding)] != cv_type:
File "/opt/ros/melodic/lib/python2.7/dist-packages/cv_bridge/core.py", line 91, in encoding_to_cvtype2
from cv_bridge.boost.cv_bridge_boost import getCvType
ImportError: libcv_bridge.so: cannot open shared object file: No such file or directory
通过上网查询资料得知,应该是OpenCV的兼容问题,然后下载包:vision_opencv
GitHub - ros-perception/vision_opencv
mkdir ~/rospkg_cv/src
下载到src里面,然后回到rospkg_cv,在终端执行catkin_make进行编译,结果报错:
/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: error: return-statement with no value, in function returning ‘void*’ [-fpermissive]
#define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }
^
/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: note: in definition of macro ‘import_array’
#define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }
如图:
通过查询cv_bridge与python版本问题导致编译错误error: return-statement with no value, in function returning ‘void*’ [-fpe_东街听落雨的博客-CSDN博客 大致意思应该是numpy没有找对位置,但是按照他做后,发现并没有解决问题,仍然报同样的错,说明以下两行指令没用上:
-
set(PYTHON_NUMPY_INCLUDE_DIR ~/.local/lib/python3.6/site-packages/numpy/core/include)
-
set(PYTHON_INCLUDE_PATH /usr/include/python3.6)
然后我自己进行搜索查询catkin_make的用法,终于解决了。
2、解决过程(需要根据大家的Python3的位置及版本作出对应的修改)
搜索python3及其对应库的位置(可以执行sudo find / -iname "**",,,其中,**为想要搜索的文件名),然后对应的替换即可,对于我的电脑,指令如下:
catkin_make 指令替换为:
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6 -DPYTHON_LIBRARY=/usr/lib/python3.6/config-3.6m-x86_64-linux-gnu/libpython3.6.so
怕大家因为太多挑花眼,我这里给出我的搜索结果:
(1)对于-DPYTHON_EXECUTABLE=/usr/bin/python3
我的搜索结果长这个样子:
(2)对于-DPYTHON_INCLUDE_DIR=/usr/include/python3.6,我的搜索结果长这个样子:
(3)对于-DPYTHON_LIBRARY=/usr/lib/python3.6/config-3.6m-x86_64-linux-gnu/libpython3.6.so,我的搜索结果长这个样子::
方法3:
在你有conda环境的情况下:
运行:
conda install setuptools
pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools
使用whereis python3,找到python3的位置,使用conda activate ****进入对应环境中,运行:catkin_make -DPYTHON_EXECUTABLE=/home/****/anaconda3/envs/****/bin/python3
(*是根据你的对应环境路径来)