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下载源码，源码编译支持系统opencv

git clone -b noetic https://github.com/ros-perception/vision_opencv.gitset(_opencv_version 4)   #设置为系统opencv
find_package(OpenCV 4 QUIET)
if(NOT OpenCV_FOUND)message(STATUS "Did not find OpenCV 4, trying OpenCV 3")set(_opencv_version 3)
endif()cd vision_opencv/cv_bridge
mkdir build
cd build
cmake ..
make
sudo make install

完成后：

将/usr/local/share/中的cv_bridge文件夹复制到/opt/ros/noetic/share/中