ROS安装 与 Opencv冲突

ROS安装官网手册:http://wiki.ros.org/kinetic/Installation/Ubuntu

根据自己需求安装,一般安装ros-kinetic-desktop版本即可,后面需要的什么包可以再单独安装。

 

安装方法

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential一般用不到,先不安装。

检测是否成功安装

下面运行一个鼠标控制海龟移动的demo来验证ROS是否成功安装好了。

第一步,打开一个终端测试roscore是否能正常启动,使用ROS必须保证roscore运行:

roscore

第二步,新开启一个终端,执行以下命令:

rosrun turtlesim turtlesim_node

第三步,再开启一个终端,执行以下命令:

rosrun turtlesim turtle_teleop_key

 

安装ros后,python 2可以使用opencv,python 3不能使用opencv?

python3
import cv2

提示报错:

ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type

这是因为ros安装后在bashrc中添加了source /opt/ros/kinetic/setup.bash, termial里查看echo $PYTHONPATH发现变为/opt/ros/kinetic/lib/python2.7/dist-packages,

解决方法:

cd ~
gedit .bashrc

在bashrc最后添加:

export PYTHONPATH=/usr/local/lib/python3.5/dist-packages

随后,在新的termial使用echo $PYTHONPATH发现已经变为/usr/local/lib/python3.5/dist-packages,使用python3发现可以import cv2,

或者也可以在不使用ros时注释掉:

source /opt/ros/kinetic/setup.bash

 

 

 

 

安装失败,dependency错误,可能是已安装的软件冲突导致的。

源使用:http://cn.archive.ubuntu.com/ubuntu xenial/universe amd64

 

先安装opencv,再安装ros可以正常安装:

sudo apt-get install ros-kinetic-desktop
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following package was automatically installed and is no longer required:
  snapd-login-service
Use 'sudo apt autoremove' to remove it.
The following additional packages will be installed:
  binfmt-support blt bzip2-doc comerr-dev curl docutils-common docutils-doc
  fonts-lyx google-mock graphviz hddtemp krb5-multidev libapr1 libapr1-dev
  libaprutil1 libaprutil1-dev libarmadillo6 libarpack2 libassimp-dev
  libassimp3v5 libbz2-dev libcdt5 libcgraph6 libcollada-dom2.4-dp-dev
  libcollada-dom2.4-dp0 libconsole-bridge-dev libconsole-bridge0.2v5
  libcurl4-openssl-dev libdap-dev libdap17v5 libdapclient6v5 libdapserver7v5
  libepsilon1 libfreeimage3 libfreexl1 libgdal-dev libgdal1i libgeos-3.5.0
  libgeos-c1v5 libgeos-dev libgif-dev libgif7 libgl2ps-dev libgl2ps0
  libglade2-0 libgssrpc4 libgtest-dev libgvc6 libgvpr2 libhdf4-0-alt
  libhdf4-alt-dev libhdf5-mpi-dev libhdf5-openmpi-10 libhdf5-openmpi-dev
  libinput-dev libjs-jquery-ui libjs-sphinxdoc libjs-underscore libjsoncpp-dev
  libjxr0 libkadm5clnt-mit9 libkadm5srv-mit9 libkdb5-8 libkmlbase1 libkmldom1
  libkmlengine1 libldap2-dev liblog4cxx-dev liblog4cxx10-dev liblog4cxx10v5
  liblz4-dev libminizip1 libmysqlclient-dev libmysqlclient20 libnetcdf-c++4
  libnetcdf-cxx-legacy-dev libnetcdf-dev libnetcdf11 libodbc1 libogdi3.2
  libogre-1.9-dev libogre-1.9.0v5 libopenjp2-7 libpathplan4 libpoco-dev
  libpococrypto9v5 libpocodata9v5 libpocofoundation9v5 libpocomysql9v5
  libpoconet9v5 libpoconetssl9v5 libpocoodbc9v5 libpocosqlite9v5
  libpocoutil9v5 libpocoxml9v5 libpocozip9v5 libpq-dev libpq5 libproj9
  libpyside-py3-2.0 libpyside2-dev libpyside2.0 libqgsttools-p1 libqhull-dev
  libqhull7 libqt5clucene5 libqt5designer5 libqt5designercomponents5
  libqt5help5 libqt5multimediaquick-p5 libqt5multimediawidgets5
  libqt5quickparticles5 libqt5script5 libqt5scripttools5 libqt5svg5-dev
  libqt5webkit5-dev libqt5x11extras5 libqt5x11extras5-dev libqt5xmlpatterns5
  libqt5xmlpatterns5-dev libqt5xmlpatterns5-private-dev libsctp-dev libsctp1
  libshiboken-py3-2.0 libshiboken2-dev libshiboken2.0 libspatialite-dev
  libspatialite7 libsqlite3-dev libssl-dev libssl-doc libsuperlu4
  libtinyxml-dev libtinyxml2-2v5 libtinyxml2-dev libudev-dev liburdfdom-dev
  liburdfdom-headers-dev liburdfdom-model-state0.4 liburdfdom-model0.4
  liburdfdom-sensor0.4 liburdfdom-tools liburdfdom-world0.4 liburiparser1
  libvtk6-dev libvtk6-java libvtk6-qt-dev libvtk6.2 libvtk6.2-qt libwebp-dev
  libwxbase3.0-0v5 libwxgtk3.0-0v5 libxerces-c-dev libxerces-c3.1 libxss-dev
  libyaml-cpp-dev libyaml-cpp0.5v5 libzzip-0-13 mysql-common odbcinst
  odbcinst1debian2 proj-bin proj-data pyqt5-dev python-attr python-autobahn
  python-cairo python-catkin-pkg python-catkin-pkg-modules python-cffi-backend
  python-chardet python-concurrent.futures python-crypto python-cryptography
  python-cycler python-dateutil python-defusedxml python-docutils python-ecdsa
  python-empy python-enum34 python-glade2 python-gobject-2 python-gtk2
  python-idna python-imaging python-ipaddress python-lz4 python-matplotlib
  python-matplotlib-data python-mpi4py python-msgpack python-netifaces
  python-nose python-numpy python-opengl python-openssl python-pam
  python-paramiko python-pil python-psutil python-pyasn1 python-pyasn1-modules
  python-pydot python-pygments python-pyparsing python-pyqt5
  python-pyqt5.qtopengl python-pyqt5.qtsvg python-pyqt5.qtwebkit
  python-pyside2 python-pyside2.qtconcurrent python-pyside2.qtcore
  python-pyside2.qtgui python-pyside2.qthelp python-pyside2.qtnetwork
  python-pyside2.qtprintsupport python-pyside2.qtqml python-pyside2.qtquick
  python-pyside2.qtquickwidgets python-pyside2.qtscript python-pyside2.qtsql
  python-pyside2.qtsvg python-pyside2.qttest python-pyside2.qtuitools
  python-pyside2.qtwebkit python-pyside2.qtwebkitwidgets
  python-pyside2.qtwidgets python-pyside2.qtx11extras python-pyside2.qtxml
  python-roman python-rosdep python-rosdistro python-rosdistro-modules
  python-rospkg python-rospkg-modules python-serial python-service-identity
  python-sip python-sip-dev python-six python-snappy python-tk python-trollius
  python-twisted python-twisted-bin python-twisted-core python-txaio python-tz
  python-vtk6 python-wxgtk3.0 python-wxtools python-wxversion python-yaml
  python-zope.interface qtbase5-private-dev qtdeclarative5-dev
  qtdeclarative5-private-dev qtmultimedia5-dev qtscript5-dev
  qtscript5-private-dev qttools5-dev qttools5-dev-tools qttools5-private-dev
  ros-kinetic-actionlib ros-kinetic-actionlib-msgs
  ros-kinetic-actionlib-tutorials ros-kinetic-angles ros-kinetic-bond
  ros-kinetic-bond-core ros-kinetic-bondcpp ros-kinetic-bondpy
  ros-kinetic-catkin ros-kinetic-class-loader ros-kinetic-cmake-modules
  ros-kinetic-collada-parser ros-kinetic-collada-urdf ros-kinetic-common-msgs
  ros-kinetic-common-tutorials ros-kinetic-control-msgs ros-kinetic-cpp-common
  ros-kinetic-cv-bridge ros-kinetic-diagnostic-aggregator
  ros-kinetic-diagnostic-analysis ros-kinetic-diagnostic-common-diagnostics
  ros-kinetic-diagnostic-msgs ros-kinetic-diagnostic-updater
  ros-kinetic-diagnostics ros-kinetic-dynamic-reconfigure
  ros-kinetic-eigen-conversions ros-kinetic-eigen-stl-containers
  ros-kinetic-executive-smach ros-kinetic-filters ros-kinetic-gencpp
  ros-kinetic-geneus ros-kinetic-genlisp ros-kinetic-genmsg
  ros-kinetic-gennodejs ros-kinetic-genpy ros-kinetic-geometric-shapes
  ros-kinetic-geometry ros-kinetic-geometry-msgs
  ros-kinetic-geometry-tutorials ros-kinetic-gl-dependency
  ros-kinetic-image-transport ros-kinetic-interactive-marker-tutorials
  ros-kinetic-interactive-markers ros-kinetic-joint-state-publisher
  ros-kinetic-kdl-conversions ros-kinetic-kdl-parser
  ros-kinetic-laser-geometry ros-kinetic-librviz-tutorial ros-kinetic-map-msgs
  ros-kinetic-media-export ros-kinetic-message-filters
  ros-kinetic-message-generation ros-kinetic-message-runtime ros-kinetic-mk
  ros-kinetic-nav-msgs ros-kinetic-nodelet ros-kinetic-nodelet-core
  ros-kinetic-nodelet-topic-tools ros-kinetic-nodelet-tutorial-math
  ros-kinetic-octomap ros-kinetic-opencv3 ros-kinetic-orocos-kdl
  ros-kinetic-pluginlib ros-kinetic-pluginlib-tutorials
  ros-kinetic-python-orocos-kdl ros-kinetic-python-qt-binding
  ros-kinetic-qt-dotgraph ros-kinetic-qt-gui ros-kinetic-qt-gui-cpp
  ros-kinetic-qt-gui-py-common ros-kinetic-qwt-dependency
  ros-kinetic-random-numbers ros-kinetic-resource-retriever ros-kinetic-robot
  ros-kinetic-robot-model ros-kinetic-robot-state-publisher ros-kinetic-ros
  ros-kinetic-ros-base ros-kinetic-ros-comm ros-kinetic-ros-core
  ros-kinetic-ros-environment ros-kinetic-ros-tutorials ros-kinetic-rosbag
  ros-kinetic-rosbag-migration-rule ros-kinetic-rosbag-storage
  ros-kinetic-rosbash ros-kinetic-rosboost-cfg ros-kinetic-rosbuild
  ros-kinetic-rosclean ros-kinetic-rosconsole ros-kinetic-rosconsole-bridge
  ros-kinetic-roscpp ros-kinetic-roscpp-core ros-kinetic-roscpp-serialization
  ros-kinetic-roscpp-traits ros-kinetic-roscpp-tutorials ros-kinetic-roscreate
  ros-kinetic-rosgraph ros-kinetic-rosgraph-msgs ros-kinetic-roslang
  ros-kinetic-roslaunch ros-kinetic-roslib ros-kinetic-roslint
  ros-kinetic-roslisp ros-kinetic-roslz4 ros-kinetic-rosmake
  ros-kinetic-rosmaster ros-kinetic-rosmsg ros-kinetic-rosnode
  ros-kinetic-rosout ros-kinetic-rospack ros-kinetic-rosparam
  ros-kinetic-rospy ros-kinetic-rospy-tutorials ros-kinetic-rosservice
  ros-kinetic-rostest ros-kinetic-rostime ros-kinetic-rostopic
  ros-kinetic-rosunit ros-kinetic-roswtf ros-kinetic-rqt-action
  ros-kinetic-rqt-bag ros-kinetic-rqt-bag-plugins
  ros-kinetic-rqt-common-plugins ros-kinetic-rqt-console ros-kinetic-rqt-dep
  ros-kinetic-rqt-graph ros-kinetic-rqt-gui ros-kinetic-rqt-gui-cpp
  ros-kinetic-rqt-gui-py ros-kinetic-rqt-image-view ros-kinetic-rqt-launch
  ros-kinetic-rqt-logger-level ros-kinetic-rqt-moveit ros-kinetic-rqt-msg
  ros-kinetic-rqt-nav-view ros-kinetic-rqt-plot ros-kinetic-rqt-pose-view
  ros-kinetic-rqt-publisher ros-kinetic-rqt-py-common
  ros-kinetic-rqt-py-console ros-kinetic-rqt-reconfigure
  ros-kinetic-rqt-robot-dashboard ros-kinetic-rqt-robot-monitor
  ros-kinetic-rqt-robot-plugins ros-kinetic-rqt-robot-steering
  ros-kinetic-rqt-runtime-monitor ros-kinetic-rqt-rviz
  ros-kinetic-rqt-service-caller ros-kinetic-rqt-shell ros-kinetic-rqt-srv
  ros-kinetic-rqt-tf-tree ros-kinetic-rqt-top ros-kinetic-rqt-topic
  ros-kinetic-rqt-web ros-kinetic-rviz ros-kinetic-rviz-plugin-tutorials
  ros-kinetic-rviz-python-tutorial ros-kinetic-self-test
  ros-kinetic-sensor-msgs ros-kinetic-shape-msgs ros-kinetic-smach
  ros-kinetic-smach-msgs ros-kinetic-smach-ros ros-kinetic-smclib
  ros-kinetic-std-msgs ros-kinetic-std-srvs ros-kinetic-stereo-msgs
  ros-kinetic-tf ros-kinetic-tf-conversions ros-kinetic-tf2
  ros-kinetic-tf2-kdl ros-kinetic-tf2-msgs ros-kinetic-tf2-py
  ros-kinetic-tf2-ros ros-kinetic-topic-tools ros-kinetic-trajectory-msgs
  ros-kinetic-turtle-actionlib ros-kinetic-turtle-tf ros-kinetic-turtle-tf2
  ros-kinetic-turtlesim ros-kinetic-urdf ros-kinetic-urdf-parser-plugin
  ros-kinetic-visualization-marker-tutorials ros-kinetic-visualization-msgs
  ros-kinetic-visualization-tutorials ros-kinetic-viz
  ros-kinetic-webkit-dependency ros-kinetic-xacro ros-kinetic-xmlrpcpp sbcl
  shiboken2 sip-dev tango-icon-theme tcl-dev tcl-vtk6 tcl8.6-dev tk-dev
  tk8.6-blt2.5 tk8.6-dev ttf-bitstream-vera unixodbc unixodbc-dev uuid-dev
  vtk6 x11proto-scrnsaver-dev
Suggested packages:
  blt-demo graphviz-doc ksensors krb5-doc libbullet2-dev libbullet2
  libcurl4-doc libcurl3-dbg libidn11-dev libkrb5-dev librtmp-dev libgdal-doc
  krb5-user libhdf4-doc hdf4-tools libnetcdf4 libhdf5-doc libjs-jquery-ui-docs
  liblog4cxx-doc netcdf-bin netcdf-doc libmyodbc odbc-postgresql tdsodbc
  unixodbc-bin ogdi-bin ogre-1.9-doc libogre-1.9.0v5-dbg libpoco-doc
  libpococrypto9v5-dbg libpocodata9v5-dbg libpocofoundation9v5-dbg
  libpocomysql9v5-dbg libpoconet9v5-dbg libpoconetssl9v5-dbg
  libpocoodbc9v5-dbg libpocosqlite9v5-dbg libpocoutil9v5-dbg libpocoxml9v5-dbg
  libpocozip9v5-dbg postgresql-doc-9.5 lksctp-tools sqlite3-doc libtinyxml-doc
  vtk6-doc vtk6-examples java-virtual-machine libxerces-c-doc
  python-crypto-dbg python-crypto-doc python-cryptography-doc
  python-cryptography-vectors texlive-latex-recommended texlive-latex-base
  texlive-lang-french fonts-linuxlibertine | ttf-linux-libertine
  python-enum34-doc python-gtk2-doc python-gobject-2-dbg dvipng ffmpeg
  inkscape ipython python-cairocffi python-configobj python-excelerator
  python-gobject python-matplotlib-doc python-qt4 python-scipy python-tornado
  python-traits texlive-extra-utils texlive-latex-extra ttf-staypuft
  python-coverage python-nose-doc python-numpy-dbg python-numpy-doc libgle3
  python-openssl-doc python-openssl-dbg python-pam-dbg python-pil-doc
  python-pil-dbg python-psutil-doc python-pyqt5-dbg python-sip-doc tix
  python-tk-dbg python-twisted-bin-dbg python-qt3 python-txaio-doc mayavi2
  sbcl-doc sbcl-source slime gnome-icon-theme kdelibs-data tcl-doc tcl8.6-doc
  tk-doc tk8.6-doc
The following NEW packages will be installed:
  binfmt-support blt bzip2-doc comerr-dev curl docutils-common docutils-doc
  fonts-lyx google-mock graphviz hddtemp krb5-multidev libapr1 libapr1-dev
  libaprutil1 libaprutil1-dev libarmadillo6 libarpack2 libassimp-dev
  libassimp3v5 libbz2-dev libcdt5 libcgraph6 libcollada-dom2.4-dp-dev
  libcollada-dom2.4-dp0 libconsole-bridge-dev libconsole-bridge0.2v5
  libcurl4-openssl-dev libdap-dev libdap17v5 libdapclient6v5 libdapserver7v5
  libepsilon1 libfreeimage3 libfreexl1 libgdal-dev libgdal1i libgeos-3.5.0
  libgeos-c1v5 libgeos-dev libgif-dev libgif7 libgl2ps-dev libgl2ps0
  libglade2-0 libgssrpc4 libgtest-dev libgvc6 libgvpr2 libhdf4-0-alt
  libhdf4-alt-dev libhdf5-mpi-dev libhdf5-openmpi-10 libhdf5-openmpi-dev
  libinput-dev libjs-jquery-ui libjs-sphinxdoc libjs-underscore libjsoncpp-dev
  libjxr0 libkadm5clnt-mit9 libkadm5srv-mit9 libkdb5-8 libkmlbase1 libkmldom1
  libkmlengine1 libldap2-dev liblog4cxx-dev liblog4cxx10-dev liblog4cxx10v5
  liblz4-dev libminizip1 libmysqlclient-dev libmysqlclient20 libnetcdf-c++4
  libnetcdf-cxx-legacy-dev libnetcdf-dev libnetcdf11 libodbc1 libogdi3.2
  libogre-1.9-dev libogre-1.9.0v5 libopenjp2-7 libpathplan4 libpoco-dev
  libpococrypto9v5 libpocodata9v5 libpocofoundation9v5 libpocomysql9v5
  libpoconet9v5 libpoconetssl9v5 libpocoodbc9v5 libpocosqlite9v5
  libpocoutil9v5 libpocoxml9v5 libpocozip9v5 libpq-dev libpq5 libproj9
  libpyside-py3-2.0 libpyside2-dev libpyside2.0 libqgsttools-p1 libqhull-dev
  libqhull7 libqt5clucene5 libqt5designer5 libqt5designercomponents5
  libqt5help5 libqt5multimediaquick-p5 libqt5multimediawidgets5
  libqt5quickparticles5 libqt5script5 libqt5scripttools5 libqt5svg5-dev
  libqt5webkit5-dev libqt5x11extras5 libqt5x11extras5-dev libqt5xmlpatterns5
  libqt5xmlpatterns5-dev libqt5xmlpatterns5-private-dev libsctp-dev libsctp1
  libshiboken-py3-2.0 libshiboken2-dev libshiboken2.0 libspatialite-dev
  libspatialite7 libsqlite3-dev libssl-dev libssl-doc libsuperlu4
  libtinyxml-dev libtinyxml2-2v5 libtinyxml2-dev libudev-dev liburdfdom-dev
  liburdfdom-headers-dev liburdfdom-model-state0.4 liburdfdom-model0.4
  liburdfdom-sensor0.4 liburdfdom-tools liburdfdom-world0.4 liburiparser1
  libvtk6-dev libvtk6-java libvtk6-qt-dev libvtk6.2 libvtk6.2-qt libwebp-dev
  libwxbase3.0-0v5 libwxgtk3.0-0v5 libxerces-c-dev libxerces-c3.1 libxss-dev
  libyaml-cpp-dev libyaml-cpp0.5v5 libzzip-0-13 mysql-common odbcinst
  odbcinst1debian2 proj-bin proj-data pyqt5-dev python-attr python-autobahn
  python-cairo python-catkin-pkg python-catkin-pkg-modules python-cffi-backend
  python-chardet python-concurrent.futures python-crypto python-cryptography
  python-cycler python-dateutil python-defusedxml python-docutils python-ecdsa
  python-empy python-enum34 python-glade2 python-gobject-2 python-gtk2
  python-idna python-imaging python-ipaddress python-lz4 python-matplotlib
  python-matplotlib-data python-mpi4py python-msgpack python-netifaces
  python-nose python-numpy python-opengl python-openssl python-pam
  python-paramiko python-pil python-psutil python-pyasn1 python-pyasn1-modules
  python-pydot python-pygments python-pyparsing python-pyqt5
  python-pyqt5.qtopengl python-pyqt5.qtsvg python-pyqt5.qtwebkit
  python-pyside2 python-pyside2.qtconcurrent python-pyside2.qtcore
  python-pyside2.qtgui python-pyside2.qthelp python-pyside2.qtnetwork
  python-pyside2.qtprintsupport python-pyside2.qtqml python-pyside2.qtquick
  python-pyside2.qtquickwidgets python-pyside2.qtscript python-pyside2.qtsql
  python-pyside2.qtsvg python-pyside2.qttest python-pyside2.qtuitools
  python-pyside2.qtwebkit python-pyside2.qtwebkitwidgets
  python-pyside2.qtwidgets python-pyside2.qtx11extras python-pyside2.qtxml
  python-roman python-rosdep python-rosdistro python-rosdistro-modules
  python-rospkg python-rospkg-modules python-serial python-service-identity
  python-sip python-sip-dev python-six python-snappy python-tk python-trollius
  python-twisted python-twisted-bin python-twisted-core python-txaio python-tz
  python-vtk6 python-wxgtk3.0 python-wxtools python-wxversion python-yaml
  python-zope.interface qtbase5-private-dev qtdeclarative5-dev
  qtdeclarative5-private-dev qtmultimedia5-dev qtscript5-dev
  qtscript5-private-dev qttools5-dev qttools5-dev-tools qttools5-private-dev
  ros-kinetic-actionlib ros-kinetic-actionlib-msgs
  ros-kinetic-actionlib-tutorials ros-kinetic-angles ros-kinetic-bond
  ros-kinetic-bond-core ros-kinetic-bondcpp ros-kinetic-bondpy
  ros-kinetic-catkin ros-kinetic-class-loader ros-kinetic-cmake-modules
  ros-kinetic-collada-parser ros-kinetic-collada-urdf ros-kinetic-common-msgs
  ros-kinetic-common-tutorials ros-kinetic-control-msgs ros-kinetic-cpp-common
  ros-kinetic-cv-bridge ros-kinetic-desktop ros-kinetic-diagnostic-aggregator
  ros-kinetic-diagnostic-analysis ros-kinetic-diagnostic-common-diagnostics
  ros-kinetic-diagnostic-msgs ros-kinetic-diagnostic-updater
  ros-kinetic-diagnostics ros-kinetic-dynamic-reconfigure
  ros-kinetic-eigen-conversions ros-kinetic-eigen-stl-containers
  ros-kinetic-executive-smach ros-kinetic-filters ros-kinetic-gencpp
  ros-kinetic-geneus ros-kinetic-genlisp ros-kinetic-genmsg
  ros-kinetic-gennodejs ros-kinetic-genpy ros-kinetic-geometric-shapes
  ros-kinetic-geometry ros-kinetic-geometry-msgs
  ros-kinetic-geometry-tutorials ros-kinetic-gl-dependency
  ros-kinetic-image-transport ros-kinetic-interactive-marker-tutorials
  ros-kinetic-interactive-markers ros-kinetic-joint-state-publisher
  ros-kinetic-kdl-conversions ros-kinetic-kdl-parser
  ros-kinetic-laser-geometry ros-kinetic-librviz-tutorial ros-kinetic-map-msgs
  ros-kinetic-media-export ros-kinetic-message-filters
  ros-kinetic-message-generation ros-kinetic-message-runtime ros-kinetic-mk
  ros-kinetic-nav-msgs ros-kinetic-nodelet ros-kinetic-nodelet-core
  ros-kinetic-nodelet-topic-tools ros-kinetic-nodelet-tutorial-math
  ros-kinetic-octomap ros-kinetic-opencv3 ros-kinetic-orocos-kdl
  ros-kinetic-pluginlib ros-kinetic-pluginlib-tutorials
  ros-kinetic-python-orocos-kdl ros-kinetic-python-qt-binding
  ros-kinetic-qt-dotgraph ros-kinetic-qt-gui ros-kinetic-qt-gui-cpp
  ros-kinetic-qt-gui-py-common ros-kinetic-qwt-dependency
  ros-kinetic-random-numbers ros-kinetic-resource-retriever ros-kinetic-robot
  ros-kinetic-robot-model ros-kinetic-robot-state-publisher ros-kinetic-ros
  ros-kinetic-ros-base ros-kinetic-ros-comm ros-kinetic-ros-core
  ros-kinetic-ros-environment ros-kinetic-ros-tutorials ros-kinetic-rosbag
  ros-kinetic-rosbag-migration-rule ros-kinetic-rosbag-storage
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Opencv好多依赖库与ros的依赖库版本冲突。先安装了opencv,则ros使用apt-get install无法安装;

如果先按照opencv,在安装ros,出现错误提示:

The following packages have unmet dependencies:
 ros-kinetic-desktop-full : 
Depends: ros-kinetic-desktop but it is not going to be installed                  
Depends: ros-kinetic-perception but it is not going to be installed
Depends: ros-kinetic-simulators but it is not going to be installed
Depends: ros-kinetic-urdf-tutorial but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

 

如果先安装ros,就不能安装合适的opencv版本的依赖库,主要体现在:libvorbis-dev,python3-dev , doxygen (optinal)。

Opencv安装的libvorbis-dev的依赖版本:

The following packages have unmet dependencies:
 libvorbis-dev : Depends: libvorbis0a (= 1.3.5-3) but 1.3.5-3ubuntu0.2 is to be installed
                 Depends: libvorbisenc2 (= 1.3.5-3) but 1.3.5-3ubuntu0.2 is to be installed
                 Depends: libvorbisfile3 (= 1.3.5-3) but 1.3.5-3ubuntu0.2 is to be installed

如果要remove libvorbis0a, 则很多ros相关程序以及其他程序都要被移除。如果要降低版本,则所有依赖于libvorbis0a的包都要被移除,其中包括ros的包。

 python3-dev : Depends: libpython3-dev (= 3.5.1-3) but it is not going to be installed
                          Depends: python3.5-dev (>= 3.5.1-2~) but it is not going to be installed

doxygen : Depends: libclang1-3.6 (>= 3.2) but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

 

如果忽略这些未能正常安装的,仍然编译opencv (i.e.    cmake ../) :

-- General configuration for OpenCV 3.4.6 =====================================
--   Version control:               unknown
-- 
--   Platform:
--     Timestamp:                   2019-07-16T06:52:19Z
--     Host:                        Linux 4.15.0-54-generic x86_64
--     CMake:                       3.5.1
--     CMake generator:             Unix Makefiles
--     CMake build tool:            /usr/bin/make
--     Configuration:               Release
-- 
--   CPU/HW features:
--     Baseline:                    SSE SSE2 SSE3
--       requested:                 SSE3
--     Dispatched code generation:  SSE4_1 SSE4_2 FP16 AVX AVX2 AVX512_SKX
--       requested:                 SSE4_1 SSE4_2 AVX FP16 AVX2 AVX512_SKX
--       SSE4_1 (14 files):         + SSSE3 SSE4_1
--       SSE4_2 (2 files):          + SSSE3 SSE4_1 POPCNT SSE4_2
--       FP16 (1 files):            + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 AVX
--       AVX (6 files):             + SSSE3 SSE4_1 POPCNT SSE4_2 AVX
--       AVX2 (28 files):           + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2
--       AVX512_SKX (2 files):      + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2 AVX_512F AVX512_SKX
-- 
--   C/C++:
--     Built as dynamic libs?:      YES
--     C++ Compiler:                /usr/bin/c++  (ver 5.4.0)
--     C++ flags (Release):         -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG  -DNDEBUG
--     C++ flags (Debug):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
--     C Compiler:                  /usr/bin/cc
--     C flags (Release):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -O3 -DNDEBUG  -DNDEBUG
--     C flags (Debug):             -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
--     Linker flags (Release):      -Wl,--gc-sections  
--     Linker flags (Debug):        -Wl,--gc-sections  
--     ccache:                      NO
--     Precompiled headers:         YES
--     Extra dependencies:          dl m pthread rt
--     3rdparty dependencies:
-- 
--   OpenCV modules:
--     To be built:                 calib3d core dnn features2d flann highgui imgcodecs imgproc ml objdetect photo python2 shape stitching superres ts video videoio videostab viz
--     Disabled:                    world
--     Disabled by dependency:      -
--     Unavailable:                 cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev java js python3
--     Applications:                tests perf_tests apps
--     Documentation:               NO
--     Non-free algorithms:         NO
-- 
--   GUI: 
--     GTK+:                        YES (ver 2.24.30)
--       GThread :                  YES (ver 2.48.2)
--       GtkGlExt:                  NO
--     VTK support:                 YES (ver 6.2.0)
-- 
--   Media I/O: 
--     ZLib:                        /usr/lib/x86_64-linux-gnu/libz.so (ver 1.2.8)
--     JPEG:                        /usr/lib/x86_64-linux-gnu/libjpeg.so (ver 80)
--     WEBP:                        /usr/lib/x86_64-linux-gnu/libwebp.so (ver encoder: 0x0202)
--     PNG:                         /usr/lib/x86_64-linux-gnu/libpng.so (ver 1.2.54)
--     TIFF:                        /usr/lib/x86_64-linux-gnu/libtiff.so (ver 42 / 4.0.6)
--     JPEG 2000:                   /usr/lib/x86_64-linux-gnu/libjasper.so (ver 1.900.1)
--     OpenEXR:                     /usr/lib/x86_64-linux-gnu/libImath.so /usr/lib/x86_64-linux-gnu/libIlmImf.so /usr/lib/x86_64-linux-gnu/libIex.so /usr/lib/x86_64-linux-gnu/libHalf.so /usr/lib/x86_64-linux-gnu/libIlmThread.so (ver 2.2.0)
--     HDR:                         YES
--     SUNRASTER:                   YES
--     PXM:                         YES
-- 
--   Video I/O:
--     DC1394:                      YES (ver 2.2.4)
--     FFMPEG:                      YES
--       avcodec:                   YES (ver 56.60.100)
--       avformat:                  YES (ver 56.40.101)
--       avutil:                    YES (ver 54.31.100)
--       swscale:                   YES (ver 3.1.101)
--       avresample:                NO
--     GStreamer:                   
--       base:                      YES (ver 0.10.36)
--       video:                     YES (ver 0.10.36)
--       app:                       YES (ver 0.10.36)
--       riff:                      YES (ver 0.10.36)
--       pbutils:                   YES (ver 0.10.36)
--     libv4l/libv4l2:              NO
--     v4l/v4l2:                    linux/videodev2.h
-- 
--   Parallel framework:            pthreads
-- 
--   Trace:                         YES (with Intel ITT)
-- 
--   Other third-party libraries:
--     Lapack:                      NO
--     Eigen:                       YES (ver 3.2.92)
--     Custom HAL:                  NO
--     Protobuf:                    build (3.5.1)
-- 
--   OpenCL:                        YES (no extra features)
--     Include path:                /home/yly/Software/opencv-3.4.6/3rdparty/include/opencl/1.2
--     Link libraries:              Dynamic load
-- 
--   Python 2:
--     Interpreter:                 /usr/bin/python2.7 (ver 2.7.12)
--     Libraries:                   /usr/lib/x86_64-linux-gnu/libpython2.7.so (ver 2.7.12)
--     numpy:                       /usr/local/lib/python2.7/dist-packages/numpy/core/include (ver 1.16.4)
--     install path:                lib/python2.7/dist-packages/cv2/python-2.7
-- 
--   Python (for build):            /usr/bin/python2.7
-- 
--   Java:                          
--     ant:                         NO
--     JNI:                         NO
--     Java wrappers:               NO
--     Java tests:                  NO
-- 
--   Install to:                    /usr/local
-- -----------------------------------------------------------------
-- 
-- Configuring done
-- Generating done
-- Build files have been written to: /home/yly/Software/opencv-3.4.6/build

Unavailable:  cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev java js python3

 

Right configure:

-- General configuration for OpenCV 3.4.6 =====================================
--   Version control:               unknown
-- 
--   Platform:
--     Timestamp:                   2019-07-16T23:43:19Z
--     Host:                        Linux 4.15.0-45-generic x86_64
--     CMake:                       3.5.1
--     CMake generator:             Unix Makefiles
--     CMake build tool:            /usr/bin/make
--     Configuration:               Release
-- 
--   CPU/HW features:
--     Baseline:                    SSE SSE2 SSE3
--       requested:                 SSE3
--     Dispatched code generation:  SSE4_1 SSE4_2 FP16 AVX AVX2 AVX512_SKX
--       requested:                 SSE4_1 SSE4_2 AVX FP16 AVX2 AVX512_SKX
--       SSE4_1 (14 files):         + SSSE3 SSE4_1
--       SSE4_2 (2 files):          + SSSE3 SSE4_1 POPCNT SSE4_2
--       FP16 (1 files):            + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 AVX
--       AVX (6 files):             + SSSE3 SSE4_1 POPCNT SSE4_2 AVX
--       AVX2 (28 files):           + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2
--       AVX512_SKX (2 files):      + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2 AVX_512F AVX512_SKX
-- 
--   C/C++:
--     Built as dynamic libs?:      YES
--     C++ Compiler:                /usr/bin/c++  (ver 5.4.0)
--     C++ flags (Release):         -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG  -DNDEBUG
--     C++ flags (Debug):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
--     C Compiler:                  /usr/bin/cc
--     C flags (Release):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -O3 -DNDEBUG  -DNDEBUG
--     C flags (Debug):             -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
--     Linker flags (Release):      -Wl,--gc-sections  
--     Linker flags (Debug):        -Wl,--gc-sections  
--     ccache:                      NO
--     Precompiled headers:         YES
--     Extra dependencies:          dl m pthread rt
--     3rdparty dependencies:
-- 
--   OpenCV modules:
--     To be built:                 calib3d core dnn features2d flann highgui imgcodecs imgproc ml objdetect photo python2 python3 shape stitching superres ts video videoio videostab
--     Disabled:                    world
--     Disabled by dependency:      -
--     Unavailable:                 cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev java js viz
--     Applications:                tests perf_tests apps
--     Documentation:               NO
--     Non-free algorithms:         NO
-- 
--   GUI: 
--     GTK+:                        YES (ver 2.24.30)
--       GThread :                  YES (ver 2.48.2)
--       GtkGlExt:                  NO
--     VTK support:                 NO
-- 
--   Media I/O: 
--     ZLib:                        /usr/lib/x86_64-linux-gnu/libz.so (ver 1.2.8)
--     JPEG:                        /usr/lib/x86_64-linux-gnu/libjpeg.so (ver 80)
--     WEBP:                        build (ver encoder: 0x020e)
--     PNG:                         /usr/lib/x86_64-linux-gnu/libpng.so (ver 1.2.54)
--     TIFF:                        /usr/lib/x86_64-linux-gnu/libtiff.so (ver 42 / 4.0.6)
--     JPEG 2000:                   /usr/lib/x86_64-linux-gnu/libjasper.so (ver 1.900.1)
--     OpenEXR:                     /usr/lib/x86_64-linux-gnu/libImath.so /usr/lib/x86_64-linux-gnu/libIlmImf.so /usr/lib/x86_64-linux-gnu/libIex.so /usr/lib/x86_64-linux-gnu/libHalf.so /usr/lib/x86_64-linux-gnu/libIlmThread.so (ver 2.2.0)
--     HDR:                         YES
--     SUNRASTER:                   YES
--     PXM:                         YES
-- 
--   Video I/O:
--     DC1394:                      YES (ver 2.2.4)
--     FFMPEG:                      YES
--       avcodec:                   YES (ver 56.60.100)
--       avformat:                  YES (ver 56.40.101)
--       avutil:                    YES (ver 54.31.100)
--       swscale:                   YES (ver 3.1.101)
--       avresample:                NO
--     GStreamer:                   
--       base:                      YES (ver 0.10.36)
--       video:                     YES (ver 0.10.36)
--       app:                       YES (ver 0.10.36)
--       riff:                      YES (ver 0.10.36)
--       pbutils:                   YES (ver 0.10.36)
--     libv4l/libv4l2:              NO
--     v4l/v4l2:                    linux/videodev2.h
-- 
--   Parallel framework:            pthreads
-- 
--   Trace:                         YES (with Intel ITT)
-- 
--   Other third-party libraries:
--     Intel IPP:                   2019.0.0 Gold [2019.0.0]
--            at:                   /home/yly/Software/opencv-3.4.6/build/3rdparty/ippicv/ippicv_lnx/icv
--     Intel IPP IW:                sources (2019.0.0)
--               at:                /home/yly/Software/opencv-3.4.6/build/3rdparty/ippicv/ippicv_lnx/iw
--     Lapack:                      NO
--     Eigen:                       YES (ver 3.2.92)
--     Custom HAL:                  NO
--     Protobuf:                    build (3.5.1)
-- 
--   OpenCL:                        YES (no extra features)
--     Include path:                /home/yly/Software/opencv-3.4.6/3rdparty/include/opencl/1.2
--     Link libraries:              Dynamic load
-- 
--   Python 2:
--     Interpreter:                 /usr/bin/python2.7 (ver 2.7.12)
--     Libraries:                   /usr/lib/x86_64-linux-gnu/libpython2.7.so (ver 2.7.12)
--     numpy:                       /usr/local/lib/python2.7/dist-packages/numpy/core/include (ver 1.16.4)
--     install path:                lib/python2.7/dist-packages/cv2/python-2.7
-- 
--   Python 3:
--     Interpreter:                 /usr/bin/python3 (ver 3.5.2)
--     Libraries:                   /usr/lib/x86_64-linux-gnu/libpython3.5m.so (ver 3.5.2)
--     numpy:                       /usr/local/lib/python3.5/dist-packages/numpy/core/include (ver 1.16.4)
--     install path:                lib/python3.5/dist-packages/cv2/python-3.5
-- 
--   Python (for build):            /usr/bin/python2.7
-- 
--   Java:                          
--     ant:                         NO
--     JNI:                         NO
--     Java wrappers:               NO
--     Java tests:                  NO
-- 
--   Install to:                    /usr/local
-- -----------------------------------------------------------------
-- 
-- Configuring done
-- Generating done
-- Build files have been written to: /home/yly/Software/opencv-3.4.6/build
sudo apt-get install ros-kinetic-PACKAGE

例如:

sudo apt-get install ros-kinetic-pcl-ros


 

卸载ROS

1、卸载包

sudo apt-get purge ros-*

2、卸载依赖包

sudo apt-get autoremove

 

参考:https://www.cnblogs.com/linuxAndMcu/p/10564875.html

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