python3环境下编译使用cv_bridge

python3环境下编译cv_bridge

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前言

之前使用ROS的时候只用了C++，没有遇到cv_bridge这个坑，最近需要用到一个分割的网络与ROS桥接，为此使用Anaconda配置了一个Python3.8的环境，运行cv_bridge时出现报错，如下图所示：

一、下载cv_bridge包并编译

参考链接：
Unable to use cv_bridge with ROS Kinetic and Python3

# `ros-kinetic-cv-bridge` is needed to install a lot of cv_bridge deps. Probaply you already have it installed.
sudo apt-get install python-catkin-tools python3-dev python3-catkin-pkg-modules python3-numpy python3-yaml ros-kinetic-cv-bridge
# Create catkin workspace
mkdir catkin_workspace
cd catkin_workspace
catkin init
# Instruct catkin to set cmake variables 可以通过此路径查看自己的Python版本并做更改
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.5m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.5m.so
# Instruct catkin to install built packages into install place. It is $CATKIN_WORKSPACE/install folder
catkin config --install
# Clone cv_bridge src
git clone https://github.com/ros-perception/vision_opencv.git src/vision_opencv
# Find version of cv_bridge in your repository
apt-cache show ros-kinetic-cv-bridge | grep Version
    #Version: 1.12.8-0xenial-20180416-143935-0800
# Checkout right version in git repo. In our case it is 1.12.8
cd src/vision_opencv/
git checkout 1.12.8
cd ../../
# Build
catkin build cv_bridge
# Extend environment with new package
source install/setup.bash --extend

extend参数的作用是让这次的路径配置不影响之前配置好的路径
还需要把cv2.so 文件重命名为cv2_ros.so文件：

cd /opt/ros/kinetic/lib/python2.7/dist-packages/
sudo mv cv2.so cv2_ros.so

二、测试&debug

打开终端，更新环境变量，进入python3环境，输入测试代码：

source ~/ros-py3/install/setup.bash --extend
$python3
>>> from cv_bridge.boost.cv_bridge_boost import getCvType

如果报错：

下面是引用

CMake Error at /usr/share/cmake-3.5/Modules/FindBoost.cmake:1677 (message):
  Unable to find the requested Boost libraries.

  Boost version: 1.58.0

  Boost include path: /usr/include

  Could not find the following Boost libraries:

          boost_python3

  No Boost libraries were found.  You may need to set BOOST_LIBRARYDIR to the
  directory containing Boost libraries or BOOST_ROOT to the location of
  Boost.
Call Stack (most recent call first):
  CMakeLists.txt:11 (find_package)

报错的原因是cmake尝试寻找库文件libboost_python3.so，但是在Ubuntu中是libboost_python-py35.so(/usr/lib/x86_64-linux-gnu/libboost_python-py35.so)。
解决办法：打开cv_bridge包中的CMakeLists.txt文件：

gedit ~/ros-py3/src/vision_opencv/cv_bridge/CMakeLists.txt

把find_package(Boost REQUIRED python3)改为

find_package(Boost REQUIRED python-py35)

保存后关闭，重新编译即可：

cd ros-py3
# Build
catkin build cv_bridge
# Extend environment with new package
source install/setup.bash --extend

总结

一定要记得更新环境变量，否则会报错：
source install/setup.bash --extend
在其他目录下使用cv_bridge时使用绝对路径 ：
source ~/ros-py3/install/setup.bash --extend

其他参考链接：
ROS使用python3
在Python3环境中使用ROS的cv_bridge