OpenCV version: 3.xEigen version: 3.xUbuntu version: 20.04ros version: noeticpython -V: 2.7.18python3 -V: 3.8.10
build.sh正常编译，但build_ros.sh编译不通过，报错如下：
[rosbuild] Building package ORB_SLAM2
[rosbuild] Error from syntax check of ORB_SLAM2/manifest.xml
Traceback (most recent call last):
File "<string>", line 1, in <module>
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/__init__.py", line 53, in <module>
import roslib.stacks
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/stacks.py", line 45, in <module>
import roslib.packages
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/packages.py", line 48, in <module>
from catkin.find_in_workspaces import find_in_workspaces as catkin_find
File "/opt/ros/noetic/lib/python3/dist-packages/catkin/find_in_workspaces.py", line 39, in <module>
from catkin_pkg.packages import find_packages
File "/opt/ros/noetic/lib/python3/dist-packages/catkin_pkg/packages.py", line 38, in <module>
from .package import _get_package_xml
File "/opt/ros/noetic/lib/python3/dist-packages/catkin_pkg/package.py", line 44, in <module>
from catkin_pkg.condition import evaluate_condition
File "/opt/ros/noetic/lib/python3/dist-packages/catkin_pkg/condition.py", line 17, in <module>
import pyparsing as pp
File "/opt/ros/noetic/lib/python3/dist-packages/pyparsing/__init__.py", line 101
major: int
^
SyntaxError: invalid syntax
CMake Error at /opt/ros/noetic/share/ros/core/rosbuild/private.cmake:77 (message):
[rosbuild] Syntax check of ORB_SLAM2/manifest.xml failed; aborting
Call Stack (most recent call first):
/opt/ros/noetic/share/ros/core/rosbuild/public.cmake:174 (_rosbuild_check_manifest)
CMakeLists.txt:4 (rosbuild_init)
-- Configuring incomplete, errors occurred!
CMake Error at /opt/ros/noetic/share/ros/core/rosbuild/private.cmake:77 (message):
[rosbuild] Syntax check of ORB_SLAM2/manifest.xml failed; aborting
Call Stack (most recent call first):
/opt/ros/noetic/share/ros/core/rosbuild/public.cmake:174 (_rosbuild_check_manifest)
CMakeLists.txt:4 (rosbuild_init)
下面是 /opt/ros/noetic/share/ros/core/rosbuild/private.cmake的部分内容：
# Check validity of manifest.xml, to avoid esoteric build errors
macro(_rosbuild_check_manifest)
execute_process(
COMMAND ${PYTHON_EXECUTABLE} -c "import roslib.manifest; roslib.manifest.parse_file('manifest.xml')"
OUTPUT_VARIABLE _manifest_error
ERROR_VARIABLE _manifest_error
RESULT_VARIABLE _manifest_failed
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
OUTPUT_STRIP_TRAILING_WHITESPACE
)
if(_manifest_failed)
message("[rosbuild] Error from syntax check of ${PROJECT_NAME}/manifest.xml")
message("${_manifest_error}")
message(FATAL_ERROR "[rosbuild] Syntax check of ${PROJECT_NAME}/manifest.xml failed; aborting")
endif(_manifest_failed)
endmacro(_rosbuild_check_manifest)
可以看到manifest的error应该就是"import roslib.manifest; roslib.manifest.parse_file('manifest.xml')"的问题；
估计是ros的python版本问题，noetic将内容都放在了python3，而ORB-SLAM2的写法可能是在用python2.7；为此做一下测试：
~$ python3
Python 3.8.10 (default, Jun 22 2022, 20:18:18)
[GCC 9.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import rospkg
>>> import roslib.manifest
>>> exit()
可以看到python3的import过程完全没有问题；
~$ python
Python 2.7.18 (default, Jul 1 2022, 12:27:04)
[GCC 9.4.0] on linux2
Type "help", "copyright", "credits" or "license" for more information.
>>> import rospkg
>>> import roslib.manifest
Traceback (most recent call last):
File "<stdin>", line 1, in <module>
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/__init__.py", line 53, in <module>
import roslib.stacks
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/stacks.py", line 45, in <module>
import roslib.packages
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/packages.py", line 48, in <module>
from catkin.find_in_workspaces import find_in_workspaces as catkin_find
File "/opt/ros/noetic/lib/python3/dist-packages/catkin/find_in_workspaces.py", line 39, in <module>
from catkin_pkg.packages import find_packages
File "/opt/ros/noetic/lib/python3/dist-packages/catkin_pkg/packages.py", line 38, in <module>
from .package import _get_package_xml
File "/opt/ros/noetic/lib/python3/dist-packages/catkin_pkg/package.py", line 44, in <module>
from catkin_pkg.condition import evaluate_condition
File "/opt/ros/noetic/lib/python3/dist-packages/catkin_pkg/condition.py", line 17, in <module>
import pyparsing as pp
File "/opt/ros/noetic/lib/python3/dist-packages/pyparsing/__init__.py", line 101
major: int
^
SyntaxError: invalid syntax
很奇怪python2可以调用到rospkg，但在roslib上出了问题；
思路一是换默认python为python3.8，然后进入到ORB_SLAM2/Examples/ROS/ORB_SLAM2的目录下，做如下测试：
hazyparker@hazyparker-Lenovo-Air-14IML-2019:~/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ python
Python 3.8.10 (default, Jun 22 2022, 20:18:18)
[GCC 9.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import roslib.manifest
>>> roslib.manifest.parse_file('manifest.xml')
<roslib.manifest.Manifest object at 0x7fbb72a16b40>
一切都很正常了，但是再运行./build_ros.sh还是报相同的manifest错误
解决
python版本原因，核心思想是让系统变量python指向python3而不是原来的python2；
不能是使用alias python="/usr/bin/python3.8"，而是使用修改软连接的方式，让python指向python3；
本文内容由网友自发贡献，版权归原作者所有，本站不承担相应法律责任。如您发现有涉嫌抄袭侵权的内容，请联系:hwhale#tublm.com(使用前将#替换为@)
