python3运行rosbag需要安装的常用包

在docker里运行rosbag，安装ros后还不行，还得安装一些支持包。

需要使用python3读写rosbag时，环境里一般需要安装yaml、pycryptodomex、gnupg、rospkg等常用包，否则报错，其中报这个错误时：

  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/__init__.py", line 33, in
    from .bag import Bag, Compression, ROSBagException, ROSBagFormatException, ROSBagUnindexedException
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/bag.py", line 53, in
    from Cryptodome.Cipher import AES
ModuleNotFoundError: No module named 'Cryptodome'

安装pycryptodome还不行，得安装pycryptodomex才能解决。

详细记录:

root@fychen-G7-7700:/workspace/ExtractOdData_gen_RSU_data# python3 main.py --step ExtractOdData
Traceback (most recent call last):
  File "main.py", line 14, in 
    from src import ExtractOdSegData
  File "/workspace/ExtractOdData_gen_RSU_data/src/ExtractOdSegData.py", line 16, in 
    import rosbag
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/__init__.py", line 33, in 
    from .bag import Bag, Compression, ROSBagException, ROSBagFormatException, ROSBagUnindexedException
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/bag.py", line 51, in 
    import yaml
ModuleNotFoundError: No module named 'yaml'

root@fychen-G7-7700:/workspace/ExtractOdData_gen_RSU_data# pip3 install pyyaml
Collecting pyyaml
  Downloading https://files.pythonhosted.org/packages/b3/85/79b9e5b4e8d3c0ac657f4e8617713cca8408f6cdc65d2ee6554217cedff1/PyYAML-6.0-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl (603kB)
    100% |████████████████████████████████| 604kB 2.5MB/s 
Installing collected packages: pyyaml
Successfully installed pyyaml-6.0
root@fychen-G7-7700:/workspace/ExtractOdData_gen_RSU_data# python3 main.py --step ExtractOdData
Traceback (most recent call last):
  File "main.py", line 14, in 
    from src import ExtractOdSegData
  File "/workspace/ExtractOdData_gen_RSU_data/src/ExtractOdSegData.py", line 16, in 
    import rosbag
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/__init__.py", line 33, in 
    from .bag import Bag, Compression, ROSBagException, ROSBagFormatException, ROSBagUnindexedException
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/bag.py", line 53, in 
    from Cryptodome.Cipher import AES
ModuleNotFoundError: No module named 'Cryptodome'

root@fychen-G7-7700:/workspace/ExtractOdData_gen_RSU_data# pip3 install pycryptodome  -i http://mirrors.aliyun.com/pypi/simple/ --trusted-host mirrors.aliyun.com
Collecting pycryptodome
  Downloading http://mirrors.aliyun.com/pypi/packages/79/71/ced0ee573f4c0ff7832306fe79dea782f0dd058145ad1a5f443eefd2ccb3/pycryptodome-3.16.0-cp35-abi3-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl (2.3MB)
    100% |████████████████████████████████| 2.3MB 652kB/s 
Installing collected packages: pycryptodome
Successfully installed pycryptodome-3.16.0
root@fychen-G7-7700:/workspace/ExtractOdData_gen_RSU_data# python3 main.py --step ExtractOdData
Traceback (most recent call last):
  File "main.py", line 14, in 
    from src import ExtractOdSegData
  File "/workspace/ExtractOdData_gen_RSU_data/src/ExtractOdSegData.py", line 16, in 
    import rosbag
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/__init__.py", line 33, in 
    from .bag import Bag, Compression, ROSBagException, ROSBagFormatException, ROSBagUnindexedException
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/bag.py", line 53, in 
    from Cryptodome.Cipher import AES
ModuleNotFoundError: No module named 'Cryptodome'
root@fychen-G7-7700:/workspace/ExtractOdData_gen_RSU_data# pip3 install pycryptodomex  -i http://mirrors.aliyun.com/pypi/simple/ --trusted-host mirrors.aliyun.com
Collecting pycryptodomex
  Downloading http://mirrors.aliyun.com/pypi/packages/76/dd/7276f37251f84931bd97bb42fe10455cad782dcb9a38b9820f65d2a098e8/pycryptodomex-3.16.0-cp35-abi3-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl (2.3MB)
    100% |████████████████████████████████| 2.3MB 641kB/s 
Installing collected packages: pycryptodomex
Successfully installed pycryptodomex-3.16.0
root@fychen-G7-7700:/workspace/ExtractOdData_gen_RSU_data# python3 main.py --step ExtractOdData
Traceback (most recent call last):
  File "main.py", line 14, in 
    from src import ExtractOdSegData
  File "/workspace/ExtractOdData_gen_RSU_data/src/ExtractOdSegData.py", line 16, in 
    import rosbag
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/__init__.py", line 33, in 
    from .bag import Bag, Compression, ROSBagException, ROSBagFormatException, ROSBagUnindexedException
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/bag.py", line 56, in 
    import gnupg
ModuleNotFoundError: No module named 'gnupg'
root@fychen-G7-7700:/workspace/ExtractOdData_gen_RSU_data# pip3 install gnupg  -i http://mirrors.aliyun.com/pypi/simple/ --trusted-host mirrors.aliyun.com
Collecting gnupg
  Downloading http://mirrors.aliyun.com/pypi/packages/96/6c/21f99b450d2f0821ff35343b9a7843b71e98de35192454606435c72991a8/gnupg-2.3.1.tar.gz (100kB)
    100% |████████████████████████████████| 102kB 609kB/s 
Collecting psutil>=1.2.1 (from gnupg)
  Downloading http://mirrors.aliyun.com/pypi/packages/3d/7d/d05864a69e452f003c0d77e728e155a89a2a26b09e64860ddd70ad64fb26/psutil-5.9.4.tar.gz (485kB)
    100% |████████████████████████████████| 491kB 599kB/s 
Building wheels for collected packages: gnupg, psutil
  Running setup.py bdist_wheel for gnupg ... done
  Stored in directory: /root/.cache/pip/wheels/8d/e4/fd/11e94cc0552705176a48f02aa1db2f0e94fc8adc6d075c7fc3
  Running setup.py bdist_wheel for psutil ... done
  Stored in directory: /root/.cache/pip/wheels/88/da/93/211a7200309819d3dc95c4019ee2c1c3372915d9afb9546f19
Successfully built gnupg psutil
Installing collected packages: psutil, gnupg
Successfully installed gnupg-2.3.1 psutil-5.9.4
root@fychen-G7-7700:/workspace/ExtractOdData_gen_RSU_data# python3 main.py --step ExtractOdData
Traceback (most recent call last):
  File "main.py", line 14, in 
    from src import ExtractOdSegData
  File "/workspace/ExtractOdData_gen_RSU_data/src/ExtractOdSegData.py", line 16, in 
    import rosbag
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/__init__.py", line 33, in 
    from .bag import Bag, Compression, ROSBagException, ROSBagFormatException, ROSBagUnindexedException
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rosbag/bag.py", line 68, in 
    import roslib.names # still needed for roslib.names.canonicalize_name()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/__init__.py", line 50, in 
    from roslib.launcher import load_manifest  # noqa: F401
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 42, in 
    import rospkg
ModuleNotFoundError: No module named 'rospkg'
root@fychen-G7-7700:/workspace/ExtractOdData_gen_RSU_data# pip3 install rospkg  -i http://mirrors.aliyun.com/pypi/simple/ --trusted-host mirrors.aliyun.com
Collecting rospkg
  Downloading http://mirrors.aliyun.com/pypi/packages/9b/be/70454d42c1a8f670385d6b679ca672102a4e3b9ecfb4ed922ea9ba19b9ab/rospkg-1.4.0-py3-none-any.whl
Requirement already satisfied: PyYAML in /usr/local/lib/python3.6/dist-packages (from rospkg)
Collecting catkin-pkg (from rospkg)
  Downloading http://mirrors.aliyun.com/pypi/packages/d7/52/a5395120c9a9a92837d7daf28c4fd26df50ed6e291244c70fef1a1caa5c2/catkin_pkg-0.5.2-py3-none-any.whl (76kB)
    100% |████████████████████████████████| 81kB 675kB/s 
Requirement already satisfied: setuptools in /usr/lib/python3/dist-packages (from catkin-pkg->rospkg)
Requirement already satisfied: python-dateutil in /usr/local/lib/python3.6/dist-packages (from catkin-pkg->rospkg)
Requirement already satisfied: pyparsing in /usr/local/lib/python3.6/dist-packages (from catkin-pkg->rospkg)
Collecting docutils (from catkin-pkg->rospkg)
  Downloading http://mirrors.aliyun.com/pypi/packages/8d/14/69b4bad34e3f250afe29a854da03acb6747711f3df06c359fa053fae4e76/docutils-0.18.1-py2.py3-none-any.whl (570kB)
    100% |████████████████████████████████| 573kB 512kB/s 
Requirement already satisfied: six>=1.5 in /usr/lib/python3/dist-packages (from python-dateutil->catkin-pkg->rospkg)
Installing collected packages: docutils, catkin-pkg, rospkg
Successfully installed catkin-pkg-0.5.2 docutils-0.18.1 rospkg-1.4.0

root@fychen-G7-7700:/workspace/ExtractOdData_gen_RSU_data# python3 main.py --step ExtractOdData
Failed to load Python extension for LZ4 support. LZ4 compression will not be available.
Traceback (most recent call last):
  File "/workspace/ExtractOdData_gen_RSU_data/src/ExtractOdSegData.py", line 22, in 
    from typing import TypedDict
ImportError: cannot import name 'TypedDict'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "main.py", line 14, in 
    from src import ExtractOdSegData
  File "/workspace/ExtractOdData_gen_RSU_data/src/ExtractOdSegData.py", line 24, in 
    from typing_extensions import TypedDict
ModuleNotFoundError: No module named 'typing_extensions'
root@fychen-G7-7700:/workspace/ExtractOdData_gen_RSU_data# pip3 install typing_extensions  -i http://mirrors.aliyun.com/pypi/simple/ --trusted-host mirrors.aliyun.com
Collecting typing_extensions
  Downloading http://mirrors.aliyun.com/pypi/packages/45/6b/44f7f8f1e110027cf88956b59f2fad776cca7e1704396d043f89effd3a0e/typing_extensions-4.1.1-py3-none-any.whl
Installing collected packages: typing-extensions
Successfully installed typing-extensions-4.1.1

root@fychen-G7-7700:/workspace/ExtractOdData_gen_RSU_data# python3 main.py --step ExtractOdData
Failed to load Python extension for LZ4 support. LZ4 compression will not be available.
-------------------------------------------------------
Processing: README.md
-------------------------------------------------------
Processing: config_init
-------------------------------------------------------

Failed to load Python extension for LZ4 support这个的错误的原因是python3下没有LZ4压缩算法包只有python2下才有，所以要么bag里不要用LZ4压缩数据，要么代码用纯python2实现。