ROS中python3.6环境的创建

首先使用virtualenv创建环境
virtualenv -p /usr/bin/python3.6 venv
然后安装ros的一些依赖包

source venv/bin/activate
pip install catkin_pkg pyyaml empy rospkg numpy

安装一个消息包

sudo apt-get install ros-melodic-jsk-recognition-msgs & sudo apt-get install ros-melodic-jsk-rviz-plugins

安装算法环境依赖
(1)安装常规库

pip install torch==1.4.0 torchvision==0.5.0
pip install easydict tensorboardX scikit-image numpy numba pyyaml tqdm opencv-python

(2)安装特殊库
安装spconv

cd topic_ws/src/object_detect/for_ros/lib/spconv
python setup.py bdist_wheel
cd dist/
pip install <spconv>.whl

安装iou 、pointnet等

cd topic_ws/src/object_detect/for_ros/iou3d_nms/
 rm -rf build/
 python setup.py install
 cd ~/liang/topic_ws/src/object_detect/for_ros/pointnet2/pointnet2_stack/
rm -rf build/
rm -rf dist

安装leishen_ops_cuda

cd topic_ws/src/object_detect/leishen/single_stage_model/dataset/leishen_dataset/leishen_ops/
rm -rf build/
rm -rf dist
python setup.py install

安装ros_numpy

cd topic_ws/ros_numpy/
rm -rf build/
python setup.py install

安装segfps

cd  new_train/ops/fps_wit_forgound_point/
python setup.py install

安装roiaware_pool3d

cd pvdet/dataset/roiaware_pool3d/
python setup.py install