ROS2的cv_bridge和opencv版本不匹配问题

1. 问题

/usr/bin/ld: warning: libopencv_imgcodecs.so.4.2, needed by /opt/ros/foxy/lib/libcv_bridge.so, may conflict with libopencv_imgcodecs.so.4.5
 
/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /opt/ros/foxy/lib/libcv_bridge.so, may conflict with libopencv_core.so.4.5

2. 原因

   ros安装的时候默认的opencv版本是4.2,和本地安装的opencv版本不匹配(我的本地安装的是4.5)

3. 解决方案

    单独重新安装cv_bridge库

//下载对应版本的cv_bridge包(我安装的foxy)
 
$ git clone https://github.com/ros-perception/vision_opencv.git -b foxy

//进入cv_bridge目录,
 
//修改CMakeLists.txt文件的opencv版本号,
 
//改成自己本地安装的版本
 
 
find_package(OpenCV 4 QUIET // 改成find_package(OpenCV 4.5 QUIET
 
COMPONENTS
 
opencv_core
 
opencv_imgproc
 
opencv_imgcodecs
 
CONFIG
 
)

//编译的时候指定安装路径(ros2安装的目录下,我的ros2安装目录:/opt/ros/foxy)
 
$ cd vision_opencv/cv_bridge
 
$ mkdir build && cd build
 
$ cmake -DCMAKE_INSTALL_PREFIX=/opt/ros/foxy ..
 
$ sudo make install