Import errror with tf2_ros on Melodic

[harelb]

I am having an issue importing tf2_ros in the latest version of the driver. I am running ROS Melodic and I think the issue is tf2_ros is complied for Python 2 which is the default in Melodic.

  File "/home/.../spot_ros/spot_driver/scripts/spot_ros", line 3, in <module>
    from spot_driver.spot_ros import SpotROS
  File "/home/.../spot_ros/spot_driver/src/spot_driver/spot_ros.py", line 19, in <module>
    import tf2_ros
  File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 38, in <module>
    from tf2_py import *
  File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_py/__init__.py", line 38, in <module>
    from ._tf2 import *
ImportError: dynamic module does not define module export function (PyInit__tf2)

I can try to recompile tf2_ros for Python 3 but that breaks other packages. Is there a recommended procedure for installing a Python 3 version of tf2_ros for only this driver? Otherwise, has support for this driver moved to ROS Noetic which defaults to Python 3?

[dniewinski]

Please follow the install instructions HERE. You will need to build a python3 version of geometry for the driver to work.

[harelb]

Thank you the updated instructions solved this issue. My apologizes, I didn't notice the updated build instructions when I pulled the latest version of the driver.

[aamirhatim]

The documentation in the provided link should be updated to differentiate system architectures. The catkin_make command needs the DPYTHON_LIBRARY arg to be /usr/lib/aarch64-linux-gnu/libpython3.6m.so if using a Jetson for the backpack PC.