Ubuntu16使用python3编译cv_bridge

系统配置

• Ubuntu16.04 arm64
• ROS Kinect
• 系统自带Python和Python3.5

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创建工作空间

mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

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下载cv_bridge源码

git clone https://github.com/ros-perception/vision_opencv.git src/vision_opencv
cd ~/catkin_ws

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修改CMakeList.txt

打开~/catkin_cv_bridge/src/vision_opencv/cv_bridge/CmakeList.txt

将第11行和第14行修改为

find_package(Boost REQUIRED python35)

如果你想使用其他版本的Python编译,那么则修改为其他版本(Python3.7就可以修改为python37),之后进行编译

catkin_make

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可能遇到的错误1

解决方案:建立软连接

cd /usr/lib/x86_64-linux-gnu
sudo ln -s libboost_python-py35.so libboost_python35.so
sudo ln -s libboost_python-py35.a libboost_python35.a

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可能遇到的错误2

按照上述报错的位置,将nullptr修改为NULL即可

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参考

1. https://blog.csdn.net/qq_40932565/article/details/112427529
2. https://blog.51cto.com/u_15478664/4900304