Ubuntu 20.04 LTS
Python 3.8
ROS Noetic Desktop Full installed
Confirmed I do have the file /lib/libgdal.so.26
Performed pip3 install opencv-python already
Performed sudo apt install --reinstall gdal-bin libgdal-dev python3-gdal already
Performed sudo apt-get install ros-noetic-cv-bridge already
— Result of the above was that ros-noetic-cv-bridge is already at the newest version.
However when my code hits the line
from cv_bridge.boost.cv_bridge_boost import getCvType
I get
ImportError: /lib/libgdal.so.26: undefined symbol: sqlite3_column_table_name and am at a loss at how to deal with this
NOTE : I followed the instructions at Unable to use cv_bridge with ROS Kinetic and Python3
I tried replacing "kinetic" with "noetic" and replaced the version number with mine (1.15.0).
Doing catkin build cv_bridge as instructed ther went through but gave me a few strange outputs.
Warnings << cv_bridge:make /home/tdadmin/catkin_workspace/logs/cv_bridge/build.make.000.log
cc1plus: warning: /home/tdadmin/.local/bin/python3.6m: not a directory
cc1plus: warning: /home/tdadmin/.local/bin/python3.6m: not a directory
cc1plus: warning: /home/tdadmin/.local/bin/python3.6m: not a directory
cc1plus: warning: /home/tdadmin/.local/bin/python3.6m: not a directory
cd /home/tdadmin/catkin_workspace/build/cv_bridge; catkin build –get-env cv_bridge | catkin env -si /usr/bin/make –jobserver-auth=3,4; cd –
I’mnot sure why its looking at python3.6m for anything. I set the executable line as stated for 3.8.
E: Below is the ~/catkin_workspace/src/vision_opencv/cv_bridge/CMakeLists.txt content.
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}
)
That said there are plenty of other CMakeLists.txt in this very directory, including
./src/vision_opencv/cv_bridge/python, ./src/vision_opencv/cv_bridge/test, ./src/vision_opencv/cv_bridge/, ./src/vision_opencv/cv_bridge/src
E2 : These are the results from catkin build cv_bridge
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.
2
Answers
I believe this is an issue with mixing paths and sourcing working directories. Right now you have two copies of the
cv_bridge, one in your local workspace and one in/opt. If everything is installed correctly via apt you can open a new terminal and only source the installed packages:source /opt/ros/noetic/setup.bashthen with the python command line just tryfrom cv_bridge.boost.cv_bridge_boost import getCvTypeand it should work. If it doesn’t you should uninstall and reinstall viasudo apt remove ros-noetic-cv-bridge. If that works, you should remove the local copy in your workspace.Worked from using plain noetic image rather using desktop full.