ros2导入conda环境里的python包出错

1041205456

环境是ubuntu20.04 ros2 foxy
我在代码里用sys.path.append导入

import os
import sys
sys.path.append("/home/sss/anaconda3/envs/yolov5-sort/lib/python3.8/site-packages/")
import torch
import math

但用colcon build之后还是会报错

[yolov5_tracker_node-1]     import torch
[yolov5_tracker_node-1] ModuleNotFoundError: No module named 'torch'
[ERROR] [yolov5_tracker_node-1]: process has died [pid 24618, exit code 1, cmd

这是我的launch.py

from launch import LaunchDescription
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import PathJoinSubstitution

def generate_launch_description():
    weights_path = PathJoinSubstitution([
        FindPackageShare("yolov5_vehicle_detector"),
        "weights", 
        "yolov5s.pt"
    ])

    return LaunchDescription([
        Node(
            package="yolov5_vehicle_detector",
            executable="yolov5_tracker_node",
            name="yolov5_tracker_node",
            output="screen",
            env={'DISPLAY': ':0'},
            parameters=[{
                "weights": weights_path,
                "device": "cpu",
                "imgsz": [640, 640],
                "conf_thre": 0.5,
                "iou_thre": 0.5,
                "camera_source": 0,
                "visualize": True,
            }],
        )
    ])

这是我的setup.py

from pathlib import Path
from glob import glob
from setuptools import setup, find_packages

package_name = "yolov5_vehicle_detector"

weight_file = Path("src") / "yolov5_vehicle_detector" / "weights" / "yolov5s.pt"

data_files = [
    ("share/ament_index/resource_index/packages",
     [f"resource/{package_name}"]),
    (f"share/{package_name}", ["package.xml"]),
    (f"share/{package_name}/launch", glob("launch/*.launch.py")),
    (f"share/{package_name}/weights", [str(weight_file)]),
]

package_data = {package_name: ["weights/yolov5s.pt"]}

setup(
    name=package_name,
    version="0.0.0",
    packages=find_packages(where='src', include=[package_name, f"{package_name}.*"]),
    package_dir={'': 'src'},
    package_data=package_data,
    data_files=data_files,
    install_requires=[
        "setuptools",
        "numpy",
        "pandas",
        "Pillow",
    ],
    zip_safe=True,
    maintainer="",
    maintainer_email="",
    description="ROS2 Node for YOLOv5 Vehicle Detection and Tracking",
    license="Apache License 2.0",
    entry_points={
        'console_scripts': [
            'yolov5_tracker_node = yolov5_vehicle_detector.yolov5_tracker_node:main',
        ],
    },
)

我构建的命令是

rm -rf build/ install/ log/

colcon build --packages-select yolov5_vehicle_detector_msgs yolov5_vehicle_detector --symlink-install

source install/setup.bash

ros2 launch yolov5_vehicle_detector tracking.launch.py

1041205456

还是在代码中添加

sys.path.append("/home/sss/anaconda3/envs/yolov5-sort/lib/python3.8/site-packages/")

然后我重新安装build之后生成的包

cd ~/ros2_ws/src/yolov5_vehicle_detector
pip3 install .

就会提示我

[yolov5_tracker_node-1]     import rclpy
[yolov5_tracker_node-1] ModuleNotFoundError: No module named 'rclpy'
[ERROR] [yolov5_tracker_node-1]: process has died [pid 8048, exit code 1, cmd '/home/errorsteved/ros2_ws/src/yolov5_vehicle_detector/install/yolov5_vehicle_detector/lib/yolov5_vehicle_detector/yolov5_tracker_node --ros-args -r __node:=yolov5_tracker_node --params-file /tmp/launch_params_zffexw5t'].

小鱼

@1041205456 source /opt/ros/foxy/stup.bash 了吗