环境：ubuntu 16.04, ROS Kinetic, conda 4.8.3, python3.7

思路

在python3环境下，直接使用tf会有如下报错（rospy可正常使用）：

 >>> import tf Traceback (most recent call last):   File "<stdin>", line 1, in <module>   File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf/__init__.py", line 28, in <module>     from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException   File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 38, in <module>     from tf2_py import *   File "/opt/ros/kinetic/lib/python2.7/dist-packages/tf2_py/__init__.py", line 38, in <module>     from ._tf2 import * ImportError: dynamic module does not define module export function (PyInit__tf2) 

解决：用conda环境下的python重新编译tf相关的catkin包。

步骤1：安装miniconda并配置

下载地址：https://conda.io/en/latest/miniconda.html

 # 安装 sh Miniconda3-latest-Linux-x86_64.sh -b  # 初始化命令行 ~/miniconda3/bin/conda init  # 创建新环境并配置 conda create --name ros_demo -y conda activate ros_demo  conda install python=3.7 pip -y conda install -c anaconda make pip install numpy pip install empy pip install pyyaml

步骤2：安装ROS相关包（注意要将non-catkin包与catkin包分别放置）

安装non-catkin package

 cd ~/miniconda3/envs/ros_demo/ mkdir pycode && cd pycode  # 安装rospkg git clone https://github.com/ros-infrastructure/rospkg.git cd rospkg/ python setup.py install  # 安装sip cd .. # 下载地址 https://riverbankcomputing.com/software/sip/download cd sip-4.19.3 python configure.py  make sudo make install 

安装catkin package

 cd ~/miniconda3/envs/ros_demo/ mkdir -p catkin_ws/src && cd catkin_ws/src  #下载tf与tf2 git clone -b indigo-devel https://github.com/ros/geometry.git git clone -b indigo-devel https://github.com/ros/geometry2.git  #下载tf所需orocos_kinematics_dynamics，直接下载kinetic对应的1.3.1版本 https://github.com/orocos/orocos_kinematics_dynamics/releases/tag/1.3.1

然后，将geometry2/test_tf2/CmakeLists.txt中的

 if(NOT CATKIN_ENABLE_TESTING)   return() endif()

注释掉，原因见这里。

步骤3：catkin_make编译

 cd ~/miniconda3/envs/ros_demo/catkin_ws catkin_make_isolated --cmake-args                       -DCMAKE_BUILD_TYPE=Release                       -DPYTHON_EXECUTABLE=~/miniconda3/envs/ros_demo/bin/python                       -DPYTHON_INCLUDE_DIR=~/miniconda3/envs/ros_demo/include/python3.7m                       -DPYTHON_LIBRARY=~/miniconda3/envs/ros_demo/lib/libpython3.7m.so source devel_isolated/setup.bash

测试

 Python 3.7.8 | packaged by conda-forge | (default, Jul 23 2020, 03:54:19)  [GCC 7.5.0] on linux Type "help", "copyright", "credits" or "license" for more information. >>> import rospy >>> rospy <module 'rospy' from '/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/__init__.py'> >>> import tf >>> tf <module 'tf' from '/home/f/miniconda3/envs/ros_demo/catkin_ws/devel_isolated/tf/lib/python3/dist-packages/tf/__init__.py'> >>>  

c/c++开发分享ROS笔记——在conda的python3.7中使用ROS Kinetic地址：https://blog.csdn.net/weixin_42315410/article/details/107653495