ROS catkin_create_pkg SyntaxError: invalid syntax 解决

系统: ubtuntu 16.04

ros版本: kinetic

输入命令

catkin_create_pkg test01 roscpp tf snesor_msgs

返回的结果：

Traceback (most recent call last):
  File "/usr/local/bin/catkin_create_pkg", line 7, in 
    from catkin_pkg.cli.create_pkg import main
  File "/usr/local/lib/python3.5/dist-packages/catkin_pkg/cli/create_pkg.py", line 9, in 
    from catkin_pkg.package_templates import create_package_files, PackageTemplate
  File "/usr/local/lib/python3.5/dist-packages/catkin_pkg/package_templates.py", line 42, in 
    from catkin_pkg.package import Dependency
  File "/usr/local/lib/python3.5/dist-packages/catkin_pkg/package.py", line 44, in 
    from catkin_pkg.condition import evaluate_condition
  File "/usr/local/lib/python3.5/dist-packages/catkin_pkg/condition.py", line 17, in 
    import pyparsing as pp
  File "/home/casun/.local/lib/python3.5/site-packages/pyparsing/__init__.py", line 100
    major: int
         ^
SyntaxError: invalid syntax

解决办法：

修改第一行提示的文件/usr/local/bin/catkin_create_pkg

sudo vim /usr/local/bin/catkin_create_pkg

文件内容如下：

#!/usr/bin/python3

# -*- coding: utf-8 -*-
import re
import sys

from catkin_pkg.cli.create_pkg import main

if __name__ == '__main__':
    sys.argv[0] = re.sub(r'(-script\.pyw|\.exe)?$', '', sys.argv[0])
    sys.exit(main())

将首行的#!/usr/bin/python3改为#!/usr/bin/python2，如下

#!/usr/bin/python2

# -*- coding: utf-8 -*-
import re
import sys

from catkin_pkg.cli.create_pkg import main

if __name__ == '__main__':
    sys.argv[0] = re.sub(r'(-script\.pyw|\.exe)?$', '', sys.argv[0])
    sys.exit(main())

然后运行创建功能包的命令就不会出错了。

问题的原因是：kinetic只用python2，然后我的系统默认的python3，但是修改软连接指向python2.7还是不行。查看源文件发现，需要修改第一行指定python环境