There's something wrong with the cv_bridge

[minghongss]

[minghongss]

mkdir -p catkin_ws_cv_bridge/src cd catkin_ws_cv_bridge/src git clone https://github.com/ros-perception/vision_opencv.git cd catkin_ws_cv_bridge catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so catkin config --install catkin_make

[minghongss]

cd catkin_ws_pytorch_yolov5 catkin_make Why don't I use your way catkin build？ reason:

[Shua-Kang]

I remember I had tried the newest version of cv_bridge and it didn't support python3.6. So I find if I checkout to version 1.13 it works. So try the previous version. And did you source the cv_bridge envoriment?

cd catkin_ws_cv_bridge
# using --extend to avoid replace previous source
source install/setup.bash --extend

To be honest, I recommend you use Ubuntu20 with ROS Noetic to avoid building cv_bridge.

[minghongss]

mkdir -p catkin_ws_cv_bridge/src cd catkin_ws_cv_bridge/src git clone https://github.com/ros-perception/vision_opencv.git cd vision_opencv

the newer version may require python>3.7

git checkout 1.13.0 cd .. catkin init

Instruct catkin to set cmake variables

catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so

Instruct catkin to install built packages into install place. It is $CATKIN_WORKSPACE/install folder

catkin config --install catkin build

I have some problem in catkin build

---

Profile: default Extending: [env] /home/hongss/ros_learning/ch07_ws/devel:/home/hongss/ros_learning/ch06_ws/devel:/home/hongss/Desktop/slam_projects/vins-mono_ws/devel:/opt/ros/melodic Workspace: /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge

Build Space: [exists] /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/build Devel Space: [exists] /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/devel Install Space: [missing] /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/install Log Space: [missing] /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/logs Source Space: [exists] /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/src DESTDIR: [unused] None

Devel Space Layout: linked Install Space Layout: merged

Additional CMake Args: -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.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.
Warning: generated devel space setup files have been deleted. Starting >>> catkin_tools_prebuild

---

Warnings << catkin_tools_prebuild:cmake /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/logs/catkin_tools_prebuild/build.cmake.000.log CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googlemock/CMakeLists.txt:41 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googletest/CMakeLists.txt:48 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

cd /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/build/catkin_tools_prebuild; catkin build --get-env catkin_tools_prebuild | catkin env -si /usr/local/bin/cmake /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/build/catkin_tools_prebuild --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/devel/.private/catkin_tools_prebuild -DCMAKE_INSTALL_PREFIX=/home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/install -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so; cd - ............................................................................................................................................ Finished <<< catkin_tools_prebuild [ 1.7 seconds ]
Starting >>> cv_bridge
Starting >>> image_geometry

---

Errors << image_geometry:cmake /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/logs/image_geometry/build.cmake.000.log
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googlemock/CMakeLists.txt:41 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googletest/CMakeLists.txt:48 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

CMake Error at /usr/local/share/cmake-3.20/Modules/FindPackageHandleStandardArgs.cmake:230 (message): Could NOT find CUDA: Found unsuitable version "10.2", but required is exact version "9.0" (found /usr/local/cuda-10.2) Call Stack (most recent call first): /usr/local/share/cmake-3.20/Modules/FindPackageHandleStandardArgs.cmake:592 (_FPHSA_FAILURE_MESSAGE) /usr/local/share/cmake-3.20/Modules/FindCUDA.cmake:1264 (find_package_handle_standard_args) /usr/local/share/OpenCV/OpenCVConfig.cmake:45 (find_package) /usr/local/share/OpenCV/OpenCVConfig.cmake:241 (find_host_package) CMakeLists.txt:5 (find_package)

cd /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/build/image_geometry; catkin build --get-env image_geometry | catkin env -si /usr/local/bin/cmake /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/src/vision_opencv/image_geometry --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/devel/.private/image_geometry -DCMAKE_INSTALL_PREFIX=/home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/install -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so; cd - ............................................................................................................................................ Failed << image_geometry:cmake [ Exited with code 1 ]
Failed <<< image_geometry [ 0.9 seconds ]
Abandoned <<< opencv_tests [ Unrelated job failed ]

---

Warnings << cv_bridge:cmake /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/logs/cv_bridge/build.cmake.000.log
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googlemock/CMakeLists.txt:41 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googletest/CMakeLists.txt:48 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

cd /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/build/cv_bridge; catkin build --get-env cv_bridge | catkin env -si /usr/local/bin/cmake /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/src/vision_opencv/cv_bridge --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/devel/.private/cv_bridge -DCMAKE_INSTALL_PREFIX=/home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/install -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so; cd - ............................................................................................................................................

---

Warnings << cv_bridge:make /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/logs/cv_bridge/build.make.000.log
In file included from /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/src/vision_opencv/cv_bridge/src/module.cpp:35:0: /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/src/vision_opencv/cv_bridge/src/module.hpp: In function ‘int do_numpy_import()’: /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/src/vision_opencv/cv_bridge/src/module.hpp:39:5: warning: converting to non-pointer type ‘int’ from NULL [-Wconversion-null] import_array( ); ^~~~ In file included from /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/src/vision_opencv/cv_bridge/src/module_opencv3.cpp:3:0: /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/src/vision_opencv/cv_bridge/src/module.hpp: In function ‘int do_numpy_import()’: /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/src/vision_opencv/cv_bridge/src/module.hpp:39:5: warning: converting to non-pointer type ‘int’ from NULL [-Wconversion-null] import_array( ); ^~~~ cd /home/hongss/Desktop/deep_learning/catkin_ws_cv_bridge/build/cv_bridge; catkin build --get-env cv_bridge | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd - ............................................................................................................................................ Finished <<< cv_bridge [ 9.5 seconds ]
[build] Summary: 2 of 4 packages succeeded.
[build] Ignored: 1 packages were skipped or are blacklisted.
[build] Warnings: 2 packages succeeded with warnings.
[build] Abandoned: 1 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 11.5 seconds total.

[minghongss]

[minghongss]

I have switched CUDA version. But still report the same errors

[Shua-Kang]

Sorry that I don't have much experience with these version incompatibilities problem. But I think you can use cv_bridge of CPU verision. In this repo, cv_bridge only be used in the conversion from imgmsg to opencv img: self.cv_image = self.bridge.imgmsg_to_cv2(data, "rgb8")

It won't cost too much time. And just installed the gpu version of Pytorch is fast enough.