ros_python3_ws

1. Clone the repo
2. Initialize a catkin workspace using catkin init
3. Configure catkin build to use python3. Point to your version of Python 3 on your system -

catkin config -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.5m  -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.5m.so

For using custom environment :

conda create --prefix ./py3_ros python=3.6 
catkin config -DPYTHON_EXECUTABLE=/media/yupeng/Data/ros_ws/py3_ros/bin/python -DPYTHON_INCLUDE_DIR=/media/yupeng/Data/ros_ws/py3_ros/include/  -DPYTHON_LIBRARY=/media/yupeng/Data/ros_ws/py3_ros/lib/libpython3.6m.so

• Install python3.6 dev following instructions here. After this you need python include folder to cpp include - export CPLUS_INCLUDE_PATH="$CPLUS_INCLUDE_PATH:/usr/include/python3.6m/
• Install bullet - sudo apt-get install libbullet-dev for tf2_bullet
• You might have to add C++ support for vision_opencv package

4. download packages: sudo apt install python3-pip pip3 install numpy
pip3 install empy pip3 install pyyaml pip3 install rospkg
5. mkdir install
6. Build using catkin build
7. To use these packages, add this to your python path - ${WORKSPACE_ROOT}/ros_python3_ws/install/lib/python3/dist-packages