How to setup ROS with Python 3

Omri Ben-Bassat
Feb 27 · 3 min read

1. Basic Setup

Traceback (most recent call last):
File "/catkin_ws/src/ros_python3_issues/src/issue_yaml.py", line 3, in <module>
import rospy
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/__init__.py", line 47, in <module>
from std_msgs.msg import Header
File "/opt/ros/melodic/lib/python2.7/dist-packages/std_msgs/msg/__init__.py", line 1, in <module>
from ._Bool import *
File "/opt/ros/melodic/lib/python2.7/dist-packages/std_msgs/msg/_Bool.py", line 5, in <module>
import genpy
File "/opt/ros/melodic/lib/python2.7/dist-packages/genpy/__init__.py", line 34, in <module>
from . message import Message, SerializationError, DeserializationError, MessageException, struct_I
File "/opt/ros/melodic/lib/python2.7/dist-packages/genpy/message.py", line 44, in <module>
import yaml
ModuleNotFoundError: No module named 'yaml'
sudo apt-get install python3-pip python3-yaml
sudo pip3 install rospkg catkin_pkg

2. cv_bridge Issue

Traceback (most recent call last):
File "/catkin_ws/src/ros_python3_issues/src/issue_cv_bridge.py", line 23, in <module>
ros_image = bridge.cv2_to_imgmsg(numpy.asarray(empty_image), encoding="rgb8") # convert PIL image to ROS image
File "/opt/ros/melodic/lib/python2.7/dist-packages/cv_bridge/core.py", line 259, in cv2_to_imgmsg
if self.cvtype_to_name[self.encoding_to_cvtype2(encoding)] != cv_type:
File "/opt/ros/melodic/lib/python2.7/dist-packages/cv_bridge/core.py", line 91, in encoding_to_cvtype2
from cv_bridge.boost.cv_bridge_boost import getCvType
ImportError: dynamic module does not define module export function (PyInit_cv_bridge_boost)
sudo apt-get install python-catkin-tools python3-dev python3-numpy
mkdir ~/catkin_build_ws && cd ~/catkin_build_ws
catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so
catkin config --install
mkdir src
cd src
git clone -b melodic https://github.com/ros-perception/vision_opencv.git
cd ~/catkin_build_ws
catkin build cv_bridge
source install/setup.bash --extend

3. rostest Issue

... logging to /root/.ros/log/rostest-477a6ee2f64d-4170.log
[ROSUNIT] Outputting test results to /root/.ros/test_results/ros_python3_issues/rostest-test_test_issue_rosunit.xml
Traceback (most recent call last):
File "/catkin_ws/src/ros_python3_issues/test/issue_rosunit.py", line 18, in <module>
rostest.rosrun('ros_python3_issues', 'issue_rosunit', TestROSUnitIssue)
File "/opt/ros/melodic/lib/python2.7/dist-packages/rostest/__init__.py", line 146, in rosrun
result = rosunit.create_xml_runner(package, test_name, result_file).run(suite)
File "/opt/ros/melodic/lib/python2.7/dist-packages/rosunit/xmlrunner.py", line 275, in run
result.print_report(stream, time_taken, out_s, err_s)
File "/opt/ros/melodic/lib/python2.7/dist-packages/rosunit/xmlrunner.py", line 202, in print_report
stream.write(ET.tostring(self.xml(time_taken, out, err).getroot(), encoding='utf-8', method='xml'))
TypeError: write() argument must be str, not bytes
[Testcase: testissue_rosunit] ... ok
[ROSTEST]-----------------------------------------------------------------------SUMMARY
* RESULT: SUCCESS
* TESTS: 0
* ERRORS: 0
* FAILURES: 0
cd ~/catkin_ws/src
git clone https://github.com/ros/ros
cd ..
catkin_make_isolated --install --pkg rosunit -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/melodic

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