cv_bridge

Introduction

cv_bridge converts between ROS2 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

Installation

Firstly, it assumes that the ros2 core has already been installed, please refer to ROS2 installation to get started if the ros2 core isn't ready to use

Install dependencies

OpenCV3 is a must to install, please refer to the official installation guide from OpenCV Tutorials Since ros2 bases on python3, please make sure that python3-numpy is installed, or install like this:

sudo apt install python3-numpy

Now cv_bridge python backend still has dependency on python boost (equal or higer than 1.58.0), and install them as follows in Ubuntu 16.04:

sudo apt install libboost-python1.58.0
cd /usr/lib/x86_64-linux-gnu/ && sudo ln -s libboost_python-py35.so libboost_python3.so

Build and Test

Fetch the latest code and build

cd <YOUR_ROS2_WORKSPACE>
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv
git checkout ros2
colcon build --symlink-install

Run the tests

Python tests have dependency to opencv python support and install it:

pip3 install opencv-python

Next to prepare runtime environment and run tests:

source <YOUR_ROS2_WORKSPACE>/install/local_setup.bash
colcon test

Known issues

• boost endian: remove boost endian APIs with standard C++ 11 or higer instead
• Not verify with Windows and OS X environment and there may be building or running issues

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