本文主要记录了ROS Kinetic中OpenCV的使用，Kinetic完全安装中本身自带了Opencv3.3.1，因此在ROS中可以直接用ROS自带的Opencv3.3.1。

工程中包含头文件：

#include <opencv2/core.hpp>

#include <opencv/highgui.h>

#include <opencv2/opencv.hpp>

然后在CMakeLists.txt中需要包含ROS自带的Opencv package，内容如下：

find_package(catkin REQUIRED COMPONENTS

roscpp

nav_msgs

actionlib

actionlib_msgs

move_base_msgs

sensor_msgs

cv_bridge

)

find_package(OpenCV REQUIRED)

include_directories(

include

${catkin_INCLUDE_DIRS}

${OpenCV_INCLUDE_DIRS}

)

target_link_libraries(your_exe_name

${catkin_LIBRARIES}

${OpenCV_LIBRARIES}

)

主要参考：

https://blog.csdn.net/u010284636/article/details/80071786​blog.csdn.net