python-3.x - 使用ROS Kinetic和Python3忽略cmake参数构建cv_bridge软件包

Question

我正在尝试将ROS软件包集成到我们的系统中以进行研究项目，并且需要cv_bridge软件包和python3才能使该软件包正常工作。目前，尽管有多个步骤，我仍然无法在python3中构建cv_bridge包，并且始终在python2目录中构建。

在具有ROS动力学的Ubuntu 16.04中工作。使用python3.5

错误信息:

[ERROR] [1563897986.999724]: bad callback: <function color_callback at 0x7f00ffa06598>
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
  File "/home/rival/Documents/Repos/ROS/src/rcnn_apple_detector/detection.py", line 84, in color_callback
image = bridge.imgmsg_to_cv2(image_msg, "bgr8")
  File "/home/rival/Documents/Repos/ROS/src/vision_opencv/cv_bridge/python/cv_bridge/core.py", line 163, in imgmsg_to_cv2
dtype, n_channels = self.encoding_to_dtype_with_channels(img_msg.encoding)
  File "/home/rival/Documents/Repos/ROS/src/vision_opencv/cv_bridge/python/cv_bridge/core.py", line 99, in encoding_to_dtype_with_channels
return self.cvtype2_to_dtype_with_channels(self.encoding_to_cvtype2(encoding))
  File "/home/rival/Documents/Repos/ROS/src/vision_opencv/cv_bridge/python/cv_bridge/core.py", line 91, in encoding_to_cvtype2
from cv_bridge.boost.cv_bridge_boost import getCvType
ImportError: dynamic module does not define module export function (PyInit_cv_bridge_boost)

我已经尝试了上一个问题的答案中的步骤:

Unable to use cv_bridge with ROS Kinetic and Python3

"You are right, you should build cv_bridge with python3.

You can do it with passing -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.5m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.5m.so args to cmake. Or, if you are using catkin to build packages, you can do next steps:"

步骤的唯一变化是我必须使用catkin_make，因为我使用的一堆旧软件包的问题目前不适用于catkin build。我不知道那是不是导致它。但是我将cmake参数传递到我的工作区中，但它仍然以ROS python2目录为目标。

位置cv_bridge当前仍在构建中:

/opt/ros/kinetic/lib/python2.7/dist-packages

版:

apt-cache show ros-kinetic-cv-bridge | grep Version
Version: 1.12.8-0xenial-20190320-142632-0800

柔韧性配置:

-------------------------------------------------------------------------------------------------------------------------------------------------
Profile:                     default
Extending:             [env] /home/rival/Documents/Repos/ROS/devel:/opt/ros/kinetic
Workspace:                   /home/rival/Documents/Repos/ROS
---------------------------------------------------------------------------------------------------------------------------------------------------
Build Space:        [exists] /home/rival/Documents/Repos/ROS/build
Devel Space:        [exists] /home/rival/Documents/Repos/ROS/devel
Install Space:     [missing] /home/rival/Documents/Repos/ROS/install
Log Space:         [missing] /home/rival/Documents/Repos/ROS/logs
Source Space:       [exists] /home/rival/Documents/Repos/ROS/src
DESTDIR:            [unused] None
---------------------------------------------------------------------------------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        merged
---------------------------------------------------------------------------------------------------------------------------------------------------
Additional CMake Args:       -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.5m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.5m.so
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
---------------------------------------------------------------------------------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
---------------------------------------------------------------------------------------------------------------------------------------------------
Workspace configuration appears valid.

采取的确切步骤:

sudo apt-get install python-catkin-tools python3-dev python3-catkin-pkg-modules python3-numpy python3-yaml ros-kinetic-cv-bridge

catkin clean

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

cd src/vision_opencv/
git checkout 1.12.8

catkin_make cv_bridge

source devel/setup.bash --extend

我希望cv_bridge可以使用cmake参数构建，但是它仍然可以重新定位到python2目录中。似乎cmake args被忽略/定位不正确。

Answer 1

我遵循了这个blog post。

本质上，您需要创建新的catkin工作区，以使其配置不会与原始(python2)工作区混淆。

安装python3和依赖项。我喜欢使用不带sudo的--user来简化依赖冲突的解决。

sudo apt-get install python-catkin-tools python3-dev python3-numpy 
sudo apt-get install python3-pip python3-yaml
pip3 install rospkg catkin_pkg --user

新建工作区

mkdir py3_catkin_ws
cd py3_catkin_ws
mkdir src

配置了python3的Init catkin(使用您的python3x版本)

catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
catkin config --install

在新工作空间中克隆和catkin build vision_opencv。照常继续。 Python3现在应该能够找到cv_bridge。该博客文章建议使用source install/setup.bash --extend，但对于我而言不是必需的。