前提：
0.1 yolov5_v5.0版本的错误解决：https://blog.csdn.net/weixin_54713879/article/details/125612388?spm=1001.2101.3001.6650.1&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ERate-1-125612388-blog-115436554.pc_relevant_vip_default&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ERate-1-125612388-blog-115436554.pc_relevant_vip_default&utm_relevant_index=2
0.2 yolov5代码解读：https://jutou.blog.csdn.net/article/details/118279022?spm=1001.2101.3001.6650.2&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ERate-2-118279022-blog-123422822.pc_relevant_vip_default&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ERate-2-118279022-blog-123422822.pc_relevant_vip_default&utm_relevant_index=3
1.封装yolov5
https://blog.csdn.net/Silghz/article/details/123959805
https://www.pythonheidong.com/blog/article/851830/44a42d351037d307d02d/
2.python3重新编译cv bridge
切换python版本：https://blog.csdn.net/qq_58011370/article/details/126350345
update-alternatives --config python
https://www.guyuehome.com/34115
cv bridge的包：https://github.com/ros-perception/vision_opencv
注意选择对应版本的！！！！！！
安装环境出现错误时，换源得到解决
额外的参考：https://blog.csdn.net/weixin_44060400/article/details/104347628?spm=1001.2101.3001.6661.1&utm_medium=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ERate-1-104347628-blog-107288433.pc_relevant_vip_default&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ERate-1-104347628-blog-107288433.pc_relevant_vip_default&utm_relevant_index=1
3.ros下使用yolov5
https://blog.csdn.net/Silghz/article/details/123960387?spm=1001.2014.3001.5502