ROS Noetic（Ubuntu 20.04）CV桥不工作

Question

Ubuntu 20.04 LTS Python 3.8 ROS Noetic桌面已完全安装

确认我有文件/lib/libgdal.so.26

已执行pip3 install opencv-python 已执行sudo apt install --reinstall gdal-bin libgdal-dev python3-gdal 已执行sudo apt-get install ros-noetic-cv-bridge --上述结果表明，ros noetic cv bridge已经是最新版本

然而，当我的代码到达终点时

from cv_bridge.boost.cv_bridge_boost import getCvType

我明白了

ImportError: /lib/libgdal.so.26: undefined symbol: sqlite3_column_table_name我不知道如何处理这个问题

注：我按照Unable to use cv_bridge with ROS Kinetic and Python3的说明进行操作

我尝试用“noetic”替换“kinetic”，并用我的（1.15.0）替换版本号

按照指示做catkin build cv_bridge他们完成了，但给了我一些奇怪的输出

警告<&书信电报；cv_bridge:make/home/tdadmin/catkin_workspace/logs/cv_bridge/build.make.000.log
cc1plus:警告：/home/tdadmin/.local/bin/python3.6m:不是目录 cc1plus:警告：/home/tdadmin/.local/bin/python3.6m:不是目录 cc1plus:警告：/home/tdadmin/.local/bin/python3.6m:不是目录 cc1plus:警告：/home/tdadmin/.local/bin/python3.6m:不是目录 cd/home/tdadmin/catkin_工作区/建筑/cv_桥；catkin build--get env cv|U bridge | catkin env-si/usr/bin/make--jobserver auth=3,4；cd-

我不知道为什么要看Python3.6米。我按照3.8中的说明设置了可执行行

E:下面是~/catkin_workspace/src/vision_opencv/cv_bridge/CMakeLists.txt的内容

cmake_minimum_required(VERSION 3.0.2)
project(cv_bridge)

find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)

if(NOT ANDROID)
  find_package(PythonLibs)

  if(PYTHONLIBS_VERSION_STRING VERSION_LESS "3.8")
    # Debian Buster
    find_package(Boost REQUIRED python37)
  else()
    # Ubuntu Focal
    find_package(Boost REQUIRED python)
  endif()
else()
find_package(Boost REQUIRED)
endif()

set(_opencv_version 4)
find_package(OpenCV 4 QUIET)
if(NOT OpenCV_FOUND)
  message(STATUS "Did not find OpenCV 4, trying OpenCV 3")
  set(_opencv_version 3)
endif()

find_package(OpenCV ${_opencv_version4} REQUIRED
  COMPONENTS
    opencv_core
    opencv_imgproc
    opencv_imgcodecs
  CONFIG
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS rosconsole sensor_msgs
  DEPENDS OpenCV
  CFG_EXTRAS cv_bridge-extras.cmake
)
catkin_python_setup()

include_directories(include ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})

if(NOT ANDROID)
add_subdirectory(python)
endif()
add_subdirectory(src)
if(CATKIN_ENABLE_TESTING)
  add_subdirectory(test)
endif()

# install the include folder
install(
  DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
          

                                                                                                                                                                 

也就是说，在这个目录中还有很多其他的CMakeLists.txt，包括

/src/vision\u opencv/cv\u bridge/python，/src/vision\u opencv/cv\u bridge/test，/src/vision\u opencv/cv\u bridge/，/src/vision\u opencv/cv\u bridge/src

E2：这些是来自catkin build cv_bridge的结果

catkin build cv_bridge
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/noetic
Workspace:                   /home/tdadmin/catkin_workspace
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Build Space:        [exists] /home/tdadmin/catkin_workspace/build
Devel Space:        [exists] /home/tdadmin/catkin_workspace/devel
Install Space:      [exists] /home/tdadmin/catkin_workspace/install
Log Space:          [exists] /home/tdadmin/catkin_workspace/logs
Source Space:       [exists] /home/tdadmin/catkin_workspace/src
DESTDIR:            [unused] None
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        merged
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Additional CMake Args:       -DPYTHON_EXECUTABLE=/usr/bin/python3.8 -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.8.so
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------
[build] Found '4' packages in 0.0 seconds.                                                                                                                                                      
Starting  >>> cv_bridge                                                                                                                                                                         
Finished  <<< cv_bridge                [ 0.9 seconds ]                                                                                                                                          
[build] Summary: All 1 packages succeeded!                                                                                                                                                      
[build]   Ignored:   3 packages were skipped or are blacklisted.                                                                                                                                
[build]   Warnings:  None.                                                                                                                                                                      
[build]   Abandoned: None.                                                                                                                                                                      
[build]   Failed:    None.                                                                                                                                                                      
[build] Runtime: 0.9 seconds total.   

Answer 1

我相信这是一个混合路径和工作目录的问题。现在您有两个cv_bridge副本，一个在本地工作区，另一个在/opt中。如果通过apt正确安装了所有内容，那么您可以打开一个新的终端，并且只获取已安装的软件包：source /opt/ros/noetic/setup.bash，然后使用python命令行试试from cv_bridge.boost.cv_bridge_boost import getCvType，它应该可以工作。如果没有，您应该通过sudo apt remove ros-noetic-cv-bridge卸载并重新安装。如果这样做有效，您应该删除工作区中的本地副本