Super fast Database Copying/Cloning

Super fast Database Copying/Cloning

Oracle Tips by Burleson Consulting


A database cloning procedure is especially useful for the DBA who wants to give his developers a full-sized TEST and DEV instance by cloning the PROD instance into the development server areas.

This Oracle clone procedure can be use to quickly migrate a system from one UNIX server to another. It clones the Oracle database and this Oracle cloning procedures is often the fastest way to copy a Oracle database.

STEP 1: On the old system, go into SQL*Plus, sign on as SYSDBA and issue: “alter database backup controlfile to trace”. This will put the create database syntax in the trace file directory. The trace keyword tells oracle to generate a script containing a create controlfile command and store it in the trace directory identified in the user_dump_dest parameter of the init.ora file. It will look something like this:

STARTUP NOMOUNT
CREATE CONTROLFILE REUSE DATABASE "OLDLSQ" NORESETLOGS
NOARCHIVELOG
MAXLOGFILES 16
MAXLOGMEMBERS 2
MAXDATAFILES 240
MAXINSTANCES 1
MAXLOGHISTORY 113
LOGFILE
GROUP 1 ('/u03/oradata/oldlsq/log1a.dbf',
'/u03/oradata/olslsq/log1b.dbf') SIZE 30M,
GROUP 2 ('/u04/oradata/oldlsq/log2a.dbf',
'/u04/oradata/oldlsq/log2b.dbf') SIZE 30M
DATAFILE
'/u01/oradata/oldlsq/system01.dbf',
'/u01/oradata/oldlsq/mydatabase.dbf'
;

# Recovery is required if any of the datafiles are restored
# backups, or if the last shutdown was not normal or immediate.
RECOVER DATABASE
# Database can now be opened normally.
ALTER DATABASE OPEN;


STEP 2: Shutdown the old database

STEP 3: Copy all data files into the new directories on the new server. You may change the file names if you want, but you must edit the controlfile to reflect the new data files names on the new server.

rcp /u01/oradata/oldlsq/* newhost:/u01/oradata/newlsq
rcp /u01/oradata/oldlsq/* newhost:/u01/oradata/newlsq
rcp /u03/oradata/oldlsq/* newhost:/u03/oradata/newlsq
rcp /u04/oradata/oldlsq/* newhost:/u04/oradata/newlsq


STEP 4: Copy and Edit the Control file – Using the output syntax from STEP 1, modify the controlfile creation script by changing the following:

Old:

CREATE CONTROLFILE REUSE DATABASE "OLDLSQ" NORESETLOGS

New:

CREATE CONTROLFILE SET DATABASE "NEWLSQ" NORESETLOGS

STEP 5: Remove the “recover database” and “alter database open” syntax

# Recovery is required if any of the datafiles are restored
# backups, or if the last shutdown was not normal or immediate.
RECOVER DATABASE
# Database can now be opened normally.
ALTER DATABASE OPEN;


STEP 6: Re-names of the data files names that have changed.

Save as db_create_controlfile.sql.

Old:

DATAFILE
'/u01/oradata/oldlsq/system01.dbf',
'/u01/oradata/oldlsq/mydatabase.dbf'


New:

DATAFILE
'/u01/oradata/newlsq/system01.dbf',
'/u01/oradata/newlsq/mydatabase.dbf'


STEP 7: Create the bdump, udump and cdump directories

cd $DBA/admin
mkdir newlsq
cd newlsq
mkdir bdump
mkdir udump
mkdir cdump
mkdir pfile



STEP 8: Copy-over the old init.ora file

rcp $DBA/admin/olslsq/pfile/*.ora newhost:/u01/oracle/admin/newlsq/pfile


STEP 9: Start the new database

startup nomount;
@db_create_controlfile.sql


STEP 10: Place the new database in archivelog mode

---------------

example:

 

CREATE CONTROLFILE SET DATABASE "POADEV" RESETLOGS  NOARCHIVELOG
    MAXLOGFILES 5
    MAXLOGMEMBERS 3
    MAXDATAFILES 100
    MAXINSTANCES 1
    MAXLOGHISTORY 454
LOGFILE
  GROUP 1 '/oradata/poadev/redo01.log'  SIZE 1M,
  GROUP 2 '/oradata/poadev/redo02.log'  SIZE 1M,
  GROUP 3 '/oradata/poadev/redo03.log'  SIZE 1M
DATAFILE
  '/oradata/poadev/system01.dbf',
  '/oradata/poadev/undotbs01.dbf',
  '/oradata/poadev/poaprd_fact_01.dbf',
  '/oradata/poadev/poaprd_fact_idx_01.dbf'
CHARACTER SET UTF8
;
ALTER DATABASE OPEN RESETLOGS;
ALTER TABLESPACE TEMP ADD TEMPFILE '/oradata/poadev/temp01.dbf'
     SIZE 41943040  REUSE AUTOEXTEND ON NEXT 1048576  MAXSIZE 1024M;

 

lixing@lixing:~/fast_livo2/devel$ cd .. lixing@lixing:~/fast_livo2$ catkin_make install Base path: /home/lixing/fast_livo2 Source space: /home/lixing/fast_livo2/src Build space: /home/lixing/fast_livo2/build Devel space: /home/lixing/fast_livo2/devel Install space: /home/lixing/fast_livo2/install #### #### Running command: "make cmake_check_build_system" in "/home/lixing/fast_livo2/build" #### #### #### Running command: "make install -j8 -l8" in "/home/lixing/fast_livo2/build" #### [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target _livox_ros_driver2_generate_messages_check_deps_CustomMsg [ 20%] Built target vikit_common [ 20%] Built target _livox_ros_driver2_generate_messages_check_deps_CustomPoint [ 26%] Built target vio [ 30%] Built target imu_proc [ 33%] Built target laser_mapping [ 36%] Built target lio [ 39%] Built target pre [ 42%] Built target test_vk_common_patch_score [ 46%] Built target test_vk_common_camera [ 49%] Built target livox_ros_driver2_generate_messages_nodejs [ 52%] Built target livox_ros_driver2_generate_messages_lisp [ 55%] Built target livox_ros_driver2_generate_messages_cpp [ 58%] Built target test_vk_common_triangulation [ 65%] Built target vikit_ros [ 66%] Built target livox_ros_driver2_generate_messages_eus [ 71%] Built target livox_ros_driver2_generate_messages_py [ 71%] Built target livox_ros_driver2_generate_messages [ 96%] Built target livox_ros_driver2_node [100%] Built target fastlivo_mapping Install the project... -- Install configuration: "Release" -- Installing: /home/lixing/fast_livo2/install/_setup_util.py -- Installing: /home/lixing/fast_livo2/install/env.sh -- Installing: /home/lixing/fast_livo2/install/setup.bash -- Installing: /home/lixing/fast_livo2/install/local_setup.bash -- Installing: /home/lixing/fast_livo2/install/setup.sh -- Installing: /home/lixing/fast_livo2/install/local_setup.sh -- Installing: /home/lixing/fast_livo2/install/setup.zsh -- Installing: /home/lixing/fast_livo2/install/local_setup.zsh -- Installing: /home/lixing/fast_livo2/install/setup.fish -- Installing: /home/lixing/fast_livo2/install/local_setup.fish -- Installing: /home/lixing/fast_livo2/install/.rosinstall -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/msg/CustomPoint.msg -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/msg/CustomMsg.msg -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/cmake/livox_ros_driver2-msg-paths.cmake -- Installing: /home/lixing/fast_livo2/install/include/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/include/livox_ros_driver2/CustomMsg.h -- Installing: /home/lixing/fast_livo2/install/include/livox_ros_driver2/CustomPoint.h -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2/msg -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2/msg/CustomMsg.l -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2/msg/CustomPoint.l -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2/manifest.l -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/_package_CustomMsg.lisp -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/CustomPoint.lisp -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/_package_CustomPoint.lisp -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/livox_ros_driver2-msg.asd -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/_package.lisp -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/CustomMsg.lisp -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/msg -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/msg/CustomMsg.js -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/msg/CustomPoint.js -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/msg/_index.js -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/_index.js Listing '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2'... Compiling '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/__init__.py'... Listing '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/msg'... Compiling '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/msg/_CustomMsg.py'... Compiling '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/msg/_CustomPoint.py'... Compiling '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/msg/__init__.py'... -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/__init__.py -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__init__.py -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/_CustomMsg.py -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__pycache__ -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__pycache__/__init__.cpython-38.pyc -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__pycache__/_CustomMsg.cpython-38.pyc -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__pycache__/_CustomPoint.cpython-38.pyc -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/_CustomPoint.py -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/__pycache__ -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/__pycache__/__init__.cpython-38.pyc -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/livox_ros_driver2.pc -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/cmake/livox_ros_driver2-msg-extras.cmake -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/cmake/livox_ros_driver2Config.cmake -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/cmake/livox_ros_driver2Config-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/package.xml -- Installing: /home/lixing/fast_livo2/install/lib/livox_ros_driver2/livox_ros_driver2_node -- Set runtime path of "/home/lixing/fast_livo2/install/lib/livox_ros_driver2/livox_ros_driver2_node" to "" -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1 -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/msg_mixed.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/msg_HAP.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/msg_MID360.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/rviz_MID360.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/rviz_mixed.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/rviz_HAP.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/HAP_config.json -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/display_point_cloud_ROS1.rviz -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/mixed_HAP_MID360_config.json -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/display_point_cloud_ROS2.rviz -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/MID360_config.json -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/vikit_common.pc -- Installing: /home/lixing/fast_livo2/install/share/vikit_common/cmake/vikit_commonConfig.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_common/cmake/vikit_commonConfig-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_common/package.xml + cd /home/lixing/fast_livo2/src/rpg_vikit/vikit_py + mkdir -p /home/lixing/fast_livo2/install/lib/python3/dist-packages + /usr/bin/env PYTHONPATH=/home/lixing/fast_livo2/install/lib/python3/dist-packages:/home/lixing/fast_livo2/build/lib/python3/dist-packages:/home/lixing/fast_livo2/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages CATKIN_BINARY_DIR=/home/lixing/fast_livo2/build /usr/bin/python3 /home/lixing/fast_livo2/src/rpg_vikit/vikit_py/setup.py build --build-base /home/lixing/fast_livo2/build/rpg_vikit/vikit_py install --root=/ --install-layout=deb --prefix=/home/lixing/fast_livo2/install --install-scripts=/home/lixing/fast_livo2/install/bin running build running build_py creating /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib creating /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/depthmap_utils.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/__init__.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/math_utils.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/transformations.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/align_trajectory.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/ros_node.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/cpu_info.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py running install running install_lib creating /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/depthmap_utils.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/__init__.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/math_utils.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/transformations.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/align_trajectory.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/ros_node.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/cpu_info.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/depthmap_utils.py to depthmap_utils.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/__init__.py to __init__.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/math_utils.py to math_utils.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/transformations.py to transformations.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/align_trajectory.py to align_trajectory.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/ros_node.py to ros_node.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/cpu_info.py to cpu_info.cpython-38.pyc running install_egg_info Writing /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py-0.0.0.egg-info /usr/lib/python3.8/distutils/dist.py:274: UserWarning: Unknown distribution option: 'install_requires' warnings.warn(msg) File "home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/depthmap_utils.py", line 15 print 'Could not open file ' + depthmap_full_file_path + ' for reading binary data.' ^ SyntaxError: Missing parentheses in call to 'print'. Did you mean print('Could not open file ' + depthmap_full_file_path + ' for reading binary data.')? -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/vikit_py.pc -- Installing: /home/lixing/fast_livo2/install/share/vikit_py/cmake/vikit_pyConfig.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_py/cmake/vikit_pyConfig-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_py/package.xml -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/vikit_ros.pc -- Installing: /home/lixing/fast_livo2/install/share/vikit_ros/cmake/vikit_rosConfig.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_ros/cmake/vikit_rosConfig-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_ros/package.xml -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/fast_livo.pc -- Installing: /home/lixing/fast_livo2/install/share/fast_livo/cmake/fast_livoConfig.cmake -- Installing: /home/lixing/fast_livo2/install/share/fast_livo/cmake/fast_livoConfig-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/fast_livo/package.xml
07-22
<think>好的,用户现在遇到了在安装ROS包时出现的错误,具体是关于`depthmap_utils.py`文件中print语句的语法错误。我需要仔细分析这个问题,并给出解决方案。 首先,用户执行了`catkin_make install`命令,编译和安装整个工作空间。安装过程中,系统提示了一个语法错误:在`depthmap_utils.py`的第15行,print语句缺少括号。这说明代码中存在Python 2的print语法,而用户的环境可能使用的是Python 3,因为Python 3的print需要括号。 接下来,我需要确定问题的根源。用户可能是在Python 3环境下运行了原本为Python 2编写的代码,导致语法错误。错误信息中的`print 'Could not open file ...'`是Python 2的写法,正确的Python 3写法应该是`print('Could not open file ...')`。因此,需要修改源代码中的print语句。 然后,我需要考虑如何指导用户修改代码。用户可能对Python版本差异不太熟悉,所以需要明确说明问题所在,并提供具体的修改步骤。此外,用户可能还关心如何避免类似的错误,以及如何验证修改是否有效。 另外,用户之前的问题涉及ROS的启动文件路径问题,现在这个问题可能属于同一项目中的不同模块。需要确保用户在修改代码后重新编译安装,并检查其他可能存在的Python 2兼容性问题。 还要注意用户的工作环境,比如他们使用的是ROS Noetic,这通常支持Python 2和3,但某些包可能需要特定版本。需要确认用户使用的Python版本是否正确,以及是否需要调整ROS的Python环境配置。 最后,确保提供的解决方案清晰、具体,并且涵盖可能的相关问题,比如如何检查Python版本、如何修改其他类似的print语句,以及如何验证安装是否成功。</think>根据编译日志,错误发生在`vikit_py`模块的`depthmap_utils.py`文件中,具体提示为`print`语句缺少括号。这是由于代码中使用了Python 2的`print`语法(无括号),而当前环境使用的是Python 3(需要括号)。以下是解决方案: --- ### **问题定位** 错误代码片段: ```python print 'Could not open file ' + depthmap_full_file_path + ' for reading binary data.' ``` Python 3要求`print`语句必须使用括号: ```python print('Could not open file ' + depthmap_full_file_path + ' for reading binary data.') ``` --- ### **解决方案** #### 1. **修改`depthmap_utils.py`文件** - 打开文件: ```bash nano /home/lixing/fast_livo2/src/rpg_vikit/vikit_py/src/vikit_py/depthmap_utils.py ``` - 找到第15行,将: ```python print 'Could not open file ' + depthmap_full_file_path + ' for reading binary data.' ``` 修改为: ```python print('Could not open file ' + depthmap_full_file_path + ' for reading binary data.') ``` #### 2. **重新编译并安装** - 清理并重新编译: ```bash cd ~/fast_livo2 catkin_make clean catkin_make install ``` #### 3. **验证Python版本兼容性** - 确认当前Python版本: ```bash python3 --version ``` 如果版本为3.x,则需要确保所有Python代码兼容Python 3。 #### 4. **检查其他Python文件** - 查找项目中其他可能存在的Python 2语法问题: ```bash find /home/lixing/fast_livo2/src -name "*.py" -exec grep -l "print " {} \; ``` - 对输出的文件逐个检查`print`语句是否缺少括号,并修复。 --- ### **附加建议** 1. **使用`2to3`工具自动转换** 对于大规模代码兼容性问题,可使用Python自带的`2to3`工具: ```bash 2to3 -w /home/lixing/fast_livo2/src/rpg_vikit/vikit_py/src/vikit_py/ ``` 2. **指定Python解释器版本** 在ROS的`CMakeLists.txt`中强制使用Python 3: ```cmake set(PYTHON_VERSION 3) ``` 3. **验证安装结果** 安装完成后,检查`depthmap_utils.py`是否已正确编译: ```bash cat /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/depthmap_utils.py ``` --- ### **验证步骤** 1. 确保所有修改已保存。 2. 重新编译并安装: ```bash cd ~/fast_livo2 catkin_make install ``` 3. 检查是否生成正确的`.pyc`文件: ```bash ls /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/__pycache__/depthmap_utils.cpython-38.pyc ``` ---
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