第 20 節

OpenCV

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OpenCV

Basic Vision Algorithm - OpenCV Implementation

CV_Bridge

cv_bridge Wikipedia Introduction:

https://wiki.ros.org/cv_bridge

https://index.ros.org/p/cv_bridge/

ROS2 Humble's cv_bridge repository link (be sure to select the corresponding version branch):

https://github.com/ros-perception/vision_opencv/tree/humble

Install

Pre-compile OpenCV4 with CUDA in advance. See Electrical Control Team Environment Setup Guide for details.

  1. apt installation (not recommended)

Since ROS's built-in cv_bridge automatically links to ROS's own OpenCV version, we generally do not use the cv_bridge that comes with ROS2. Instead, we typically need to manually compile a custom cv_bridge.


# 通用命令
sudo apt install ros-<ros2-distro>-vision-opencv

# ROS2 Humble
sudo apt install ros-humble-vision-opencv

# ROS2 Jazzy
sudo apt install ros-jazzy-vision-opencv
  1. Source code compilation and installation (recommended)

This tutorial uses Jazzy as an example.

First, clone the repository. You can clone the jazzy, humble, or rolling branches — any ROS2 version should work without major changes. However, since the official jazzy branch hasn't been released yet, I'll just clone the default rolling branch.

Create a new folder.

mkdir ~/ros2_ws/src
cd ~/ros2_ws/src

# 克隆源码
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv

# 如果是humble建议:
git checkout humble

Install dependencies

sudo apt install python3-numpy
sudo apt install libboost-python-dev

Modify the CMakeLists of cv_bridge

Change the original find_package(OpenCV 4 QUIET) to an exact match version, and add the EXACT parameter:

EXACT means that if an exact version is not found, CMake will report an error and abort the build.

find_package(OpenCV 4.11 EXACT QUIET
  COMPONENTS
    opencv_core
    opencv_imgproc
    opencv_imgcodecs
  CONFIG
)

cd ~/ros2_ws

# 下面这三个根据情况三选一,一般是第一个colcon build --symlink-install

# 如果你曾经没编译过
colcon build --symlink-install

# 如果你只想编译cv_bridge
colcon build --symlink-install --packages-select cv_bridge

# 如果你曾经编译过一遍,则需要下列命令
colcon build --symlink-install --packages-select cv_bridge --allow-overriding cv_bridge

Verification:


# 列出cv_bridge链接的opencv版本
ldd ./install/cv_bridge/lib/libcv_bridge.so | grep opencv

As shown in the image below, I have successfully linked to version 411, which is OpenCV 4.11.

Next, configure the environment:

vim ~/.bashrc

Add the following sentence to the line below source /opt/ros/jazzy/setup.bash:

source ~/ros2_ws/install/setup.bash

:wq saved

Installation and environment setup complete.

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