问题描述
当我使用 catkin build 构建我的程序时，出现以下错误：
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: dynamic module does not define module export function (PyInit_cv_bridge_boost)
查找原因后发现cv_bridge默认是用python2构建的。 我的环境如下。
- Virtualenv (python3.6)
- ROS旋律
- Jetson AGX xavier
我想在 python3 中使用 cv_bridge，所以我使用下面的链接通过以下步骤构建 cv_bridge。 Unable to use cv_bridge with ROS Kinetic and Python3
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_ws
cd catkin_ws
source ~/virtualenv/jetson/bin/activate
catkin init
# Instruct catkin to set cmake variables
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so
# Instruct catkin to install built packages into install place. It is $CATKIN_WORKSPACE/install folder
catkin config --install
# Clone cv_bridge src
git clone https://github.com/ros-perception/vision_opencv.git src/vision_opencv
# Find version of cv_bridge in your repository
apt-cache show ros-kinetic-cv-bridge | grep Version
cd src/vision_opencv/
git checkout 1.13.0(maybe,I forgot)
cd ../../
# Build
catkin build cv_bridge
# Extend environment with new package
source install/setup.bash --extend
执行此过程后， from cv_bridge.boost.cv_bridge_boost import getCvType 不再导致错误。 之后，我将我创建的其他节点放在 catkin_ws 中，并使用 catkin build 构建它。但是，当我使用 roslouch 运行它时，出现以下错误：
RLException: [sample.launch] is neither a launch file in package [sample_proc] nor is [sample_proc] a launch file name
运行 source devel / setup.bash 并不能消除这个错误。
用python3构建cv_bridge时的ROS_PACKAGE_PATH如下。
(jetson) nvidia@nvidia:~/catkin_ws$ echo $ROS_PACKAGE_PATH
/home/nvidia/catkin_ws/install/share:/opt/ros/melodic/share
默认情况下，ROS_PACKAGE_PATH 如下：
(jetson) nvidia@nvidia:~/catkin_ws$ echo $ROS_PACKAGE_PATH
/opt/ros/melodic/share:/home/nvidia/catkin_ws/src/vision_opencv/cv_bridge:/home/nvidia/catkin_ws/src/ddynamic_reconfigure:/home/nvidia/catkin_ws/src/vision_opencv/image_geometry:/home/nvidia/catkin_ws/src/vision_opencv/opencv_tests:/home/nvidia/catkin_ws/src/pose_msgs:/home/nvidia/catkin_ws/src/output:/home/nvidia/catkin_ws/src/pose_check_proc:/home/nvidia/catkin_ws/src/post_proc:/home/nvidia/catkin_ws/src/realsense-ros/realsense2_camera:/home/nvidia/catkin_ws/src/realsense-ros/realsense2_description:/home/nvidia/catkin_ws/src/set_datetime_proc:/home/nvidia/catkin_ws/src/vision_opencv/vision_opencv
如果我使用 virtualenv，我需要做一些不同的事情吗？ 谢谢！
解决方法
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