报错-cv_bridge报错: ImportError: dynamic module does not define module export function (PyInit_cv_bridge

现象

当执行xx.py ，有如下报错：

Traceback (most recent call last): File "<frozen importlib._bootstrap>", line 971, in _find_and_load File "<frozen importlib._bootstrap>", line 955, in _find_and_load_unlocked File "<frozen importlib._bootstrap>", line 658, in _load_unlocked File "<frozen importlib._bootstrap>", line 571, in module_from_spec File "<frozen importlib._bootstrap_external>", line 922, in create_module File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed ImportError: dynamic module does not define module export function (PyInit_cv_bridge_boost)
.....
ImportError: dynamic module does not define module export function (PyInit_cv_bridge_boost)

原因

在ROS中默认使用python2，rospy的cv_bridge默认也是python2版本的，在使用python3中导入cv_brdige时会报出以上错误.

解决方法

需要重新编译一个用于python3版本的cv_bridge包,即可:

1. 新建ROS工作区

mkdir cv_bridge
cd cv_bridge
catkin init

2. 注意配置本地python环境，虚拟环境编译无效

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 #寻找对应位置
catkin config --install

3. 下载cv_bridge

git clone https://github.com/ros-perception/vision_opencv.git src/vision_opencv
apt-cache show ros-melodic-cv-bridge | grep Version
Version: 1.12.8-0xenial-20180416-143935-0800 #版本不一定
cd src/vision_opencv/
git checkout 1.12.8
cd …/…/

4. Build

catkin build cv_bridge

5. 添加环境

source install/setup.bash --extend
可放入~/.bashrc文件
source {dir}/install/setup.bash --extend