目錄

• 使用python3編譯boost
• console_bridge
• python3+bridge

平臺：Jetson Nano
系統版本：4.6.1

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參考資料：

How to setup ROS with Python 3
Unable to use cv_bridge with ROS Kinetic and Python3
CMake Error ：Could not find a package configuration file provided by “cv_bridge“解決辦法 —— いしょ
Boost Python 的安裝配置以及示例 (支持python3.x) —— zp0int
關于cmake找不到庫的問題 —— Shadow_Yan
vision_opencv
ROS——在Ubuntu18.04下基于ROS Melodic編譯python3的cv_bridge —— Irving.Gao

使用python3編譯boost

回到安裝boost的文件夾

cd boost_1_78_0# sudo find / -name "python3.6m" # 尋找你系統下的 python3.6m # which python3 # 尋找你系統下 python3 的安裝路徑 echo "using mpi ; using gcc : : g++ ; using python : 3.6 : /usr/bin/python3 : /usr/include/python3.6m : /usr/local/lib ;" > ~/user-config.jam./bootstrap.sh --with-python=/usr/bin/python3 --with-python-version=3.6 --with-python-root=/usr/local/lib/python3.6 --prefix=/usr/local sudo ./b2 install -a --with=all sudo ldconfig

console_bridge

git clone https://github.com/ros/console_bridge cd console_bridge mkdir -p build && cd build cmake .. sudo make install

python3+bridge

sudo apt-get install python3-pip python3-yaml sudo pip3 install rospkg catkin_pkg sudo apt-get install python-catkin-tools python3-dev python3-numpy mkdir -p ~/catkin_build_ws && cd ~/catkin_build_wscatkin clean catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.socatkin config --install mkdir src cd src git clone -b melodic https://gitee.com/vencen/vision_opencv.git apt-cache show ros-melodic-cv-bridge | grep Version

在git repo中簽出正確的版本。在我們的例子中是1.13.0

cd vision_opencv/ git checkout 1.13.0 cd ~/catkin_build_ws nano src/vision_opencv/cv_bridge/CMakeLists.txt

在find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
前添加set(rosconsole_DIR /opt/ros/melodic/share/rosconsole/cmake)和，這些路徑由sudo find / -name "rosconsole"和sudo find / -name "sensor_msgs"找到。

catkin build cv_bridge source install/setup.bash --extend

添加編譯成功的軟件環境變量

nano ~/.bashrc

底部添加：source ~/catkin_build_ws/install/setup.bash --extend

. ~/.bashrc

更新.bashrc

測試

新開一個終端：

python3 import cv_bridge from cv_bridge.boost.cv_bridge_boost import getCvTypecv_bridge getCvType

總結

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