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Ubuntu16.04下conda虚拟环境编译cv_bridge

时间:2022-11-07 18:45:24浏览次数:79  
标签:bridge Ubuntu16.04 envs wei 编译 虚拟环境 home cv

1.进入conda虚拟环境后,安装相关包
pip install rosdep rosinstall catkin_pkg rospkg numpy pyyaml opencv-python
2.初始化工作空间并获取vision_opencv

mkdir -p ros_cv_bridge/src && cd ros_cv_bridge/src
catkin_init_workspace
git clone https://gitee.com/irvingao/vision_opencv.git

(3)编译cv_bridge
这里的python解释器选择conda的python路径,如果不知道可以用whereis python查询一下:
我的python解析器路径为:/home/wei/miniconda3/envs/py39/bin/python3.9

cd ..
export CPLUS_INCLUDE_PATH=/home/wei/miniconda3/envs/py39/include/python3.9
catkin_make install -DCMAKE_BUILD_TYPE=Release -DSETUPTOOLS_DEB_LAYOUT=OFF -DPYTHON_EXECUTABLE=/home/wei/miniconda3/envs/py39/bin/python3.9

出现error:

然后:
vim /home/wei/ros_cv_bridge/src/vision_opencv/cv_bridge/src/module.hpp,将最后一段(36~40)行:

改成:

删掉原来编译的文件,然后重新编译:
sudo rm -rf build/ devel/

catkin_make install -DCMAKE_BUILD_TYPE=Release -DSETUPTOOLS_DEB_LAYOUT=OFF -DPYTHON_EXECUTABLE=/home/wei/miniconda3/envs/py39/bin/python3.9

继续报错:

然后:
vim /home/wei/miniconda3/envs/py39/lib/python3.9/site-packages/numpy/core/include/numpy/__multiarray_api.h
定位到出现问题那行,将结尾的return null;删掉保存,继续重新编译。
删掉原来编译的文件,然后重新编译:
sudo rm -rf build/ devel/

catkin_make install -DCMAKE_BUILD_TYPE=Release -DSETUPTOOLS_DEB_LAYOUT=OFF -DPYTHON_EXECUTABLE=/home/wei/miniconda3/envs/py39/bin/python3.9

成功!

参考链接:
https://www.guyuehome.com/37834
https://blog.csdn.net/shoukequ8359/article/details/120782739

标签:bridge,Ubuntu16.04,envs,wei,编译,虚拟环境,home,cv
From: https://www.cnblogs.com/ChangciWei/p/16866998.html

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