ROS使用python3的cv-bridge功能所需的功能包

cv_bridge ========== # Introduction cv_bridge converts between ROS 2 image messages and OpenCV image representation for perception applications. As follows:  This ros2 branch initially derives from porting on the basis of [ros kinetic branch](https://github.com/ros-perception/vision_opencv/tree/kinetic/cv_bridge) # Installation Firstly, it assumes that the `ROS 2 core` has already been installed, please refer to [ROS 2 installation](https://docs.ros.org/en/rolling/Installation.html) to get started. ## Install dependencies OpenCV3+ is a must to install, please refer to the official installation guide from [OpenCV Tutorials](http://docs.opencv.org/master/d9/df8/tutorial_root.html) Since ROS 2 uses Python 3, please make sure that python3-numpy is installed, or install like this: ```bash sudo apt install python3-numpy ``` The cv_bridge python backend still has a dependency on python boost (`equal or higher than 1.58.0`), and install them as follows in Ubuntu: ```bash sudo apt install libboost-python-dev ``` ## Build and Test ### Fetch the latest code and build ```bash cd <YOUR_ROS2_WORKSPACE>/src git clone https://github.com/ros-perception/vision_opencv.git -b ros2 cd .. colcon build --symlink-install ``` ### Run the tests Python tests have a dependency on OpenCV Python support. To install it: ```bash sudo apt install python3-opencv ``` Next to prepare runtime environment and run tests: ```bash source <YOUR_ROS2_WORKSPACE>/install/local_setup.bash colcon test ``` # Known issues * `boost endian`: remove boost endian APIs with standard C++ 11 or higher instead * Not tested with Windows or macOS environments so there may be issues building or running