基于ROS的机械臂手眼标定-常见错误排查

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Traceback (most recent call last):
  File "/home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py", line 5, in 
    import transforms3d as tfs
ImportError: No module named transforms3d
[base_hand_on_eye_calib-2] process has died [pid 4313, exit code 1, cmd /home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py __name:=base_hand_on_eye_calib __log:=/home/nature/.ros/log/3c7dc26a-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2.log].
log file: /home/nature/.ros/log/3c7dc26a-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2*.log

pip install transforms3d

Traceback (most recent call last):
  File "/home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py", line 10, in 
    from tabulate import tabulate
ImportError: No module named tabulate
[base_hand_on_eye_calib-2] process has died [pid 5223, exit code 1, cmd /home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py __name:=base_hand_on_eye_calib __log:=/home/nature/.ros/log/770e569c-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2.log].
log file: /home/nature/.ros/log/770e569c-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2*.log

pip install tabulate

Traceback (most recent call last):
  File "/home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py", line 11, in 
    from handeye_calibration_backend_opencv import HandeyeCalibrationBackendOpenCV
  File "/home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/handeye_calibration_backend_opencv.py", line 17, in 
    class HandeyeCalibrationBackendOpenCV(object):
  File "/home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/handeye_calibration_backend_opencv.py", line 22, in HandeyeCalibrationBackendOpenCV
    'Tsai-Lenz': cv2.CALIB_HAND_EYE_TSAI,
AttributeError: 'module' object has no attribute 'CALIB_HAND_EYE_TSAI'
[base_hand_on_eye_calib-2] process has died [pid 5329, exit code 1, cmd /home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py __name:=base_hand_on_eye_calib __log:=/home/nature/.ros/log/84e7ed28-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2.log].
log file: /home/nature/.ros/log/84e7ed28-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2*.log

nature@nature:~$ python
Python 2.7.17 (default, Feb 27 2021, 15:10:58) 
[GCC 7.5.0] on linux2
Type "help", "copyright", "credits" or "license" for more information.
>>> import cv2
>>> cv2.__file__
'/usr/lib/python2.7/dist-packages/cv2.x86_64-linux-gnu.so'

sudo mv  /usr/lib/python2.7/dist-packages/cv2.x86_64-linux-gnu.so  /usr/lib/python2.7/dist-packages/cv2.x86_64-linux-gnu.so.back

nature@nature:~$ pip install opencv-python==4.1.0.25
Collecting opencv-python==4.1.0.25
  Downloading https://files.pythonhosted.org/packages/77/30/36c3f0644fa9f42d92f079b972e990a5874c1fc2b2c0e9656eb88bb8d6dc/opencv_python-4.1.0.25-cp27-cp27mu-manylinux1_x86_64.whl (26.6MB)
    100% |████████████████████████████████| 26.6MB 50kB/s 
Collecting numpy>=1.11.1 (from opencv-python==4.1.0.25)
  Cache entry deserialization failed, entry ignored
  Downloading https://files.pythonhosted.org/packages/3a/5f/47e578b3ae79e2624e205445ab77a1848acdaa2929a00eeef6b16eaaeb20/numpy-1.16.6-cp27-cp27mu-manylinux1_x86_64.whl (17.0MB)
    100% |████████████████████████████████| 17.0MB 70kB/s 
Installing collected packages: numpy, opencv-python
Successfully installed numpy-1.16.6 opencv-python-4.1.0.25

process[base_hand_on_eye_calib-2]: started with pid [4249]
  File "/home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py", line 57
    print  str("\n"+tabulate(data,headers="firstrow") + "\n")
           ^
SyntaxError: invalid syntax
[base_hand_on_eye_calib-2] process has died [pid 4249, exit code 1, cmd /home/nature/code/learn/handeye-calib/src/handeye-calib/src/handeye/base_hand_on_eye_calib.py __name:=base_hand_on_eye_calib __log:=/home/nature/.ros/log/0c7bef56-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2.log].
log file: /home/nature/.ros/log/0c7bef56-abee-11eb-8f61-a0afbd1aaefa/base_hand_on_eye_calib-2*.log

conda deactivate