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Hi, I also have a problem like you with the OpenCV 3.4.1 and trying to use DNN with ROS. But I managed to solve it, by adding the cv_bridge from source to my workspace and modify the CMakelists to use the same local OpenCV version.

The problem is caused by cv_bridge which use the OpenCV 3 from ROS instead of our local version. Hope it works!

ros_test/ src/ dnn_detector/ (my_package) cv_bridge/ (from source)

This is my CMakelists

cmake_minimum_required(VERSION 2.8.3)
project(dnn_detector)

add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
    roscpp
    roslib
    std_msgs
    sensor_msgs
    geometry_msgs
    dynamic_reconfigure
    cv_bridge
    image_transport
    message_generation
    )

find_package(Boost REQUIRED COMPONENTS thread)

set(OpenCV_DIR "/usr/local/share/OpenCV/")
find_package(OpenCV 3.4.1 REQUIRED)
find_package(yaml-cpp REQUIRED)

################################################################################
# Declare catkin specific configuration to be passed to dependent projects
##################################################################################
catkin_package(
    INCLUDE_DIRS include
    CATKIN_DEPENDS
    roscpp
    roslib
    std_msgs
    sensor_msgs
    geometry_msgs
    dynamic_reconfigure
    cv_bridge
    image_transport
    message_runtime
    DEPENDS Boost OpenCV
    )

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
    include
    ${OpenCV_INCLUDE_DIRS}
    ${catkin_INCLUDE_DIRS}
    ${Boost_INCLUDE_DIRS}
    ${YAML_CPP_INCLUDE_DIR}
    )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node dnn_detector_node.cpp
    src/dnn_detector.cpp
    )

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} dnn_detector_generate_messages_cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node
    ${catkin_LIBRARIES}
    ${OpenCV_LIBS}
    ${Boost_LIBRARIES}
    ${YAML_CPP_LIBRARIES}
    )

The problem is caused by cv_bridge which use the OpenCV 3 from ROS instead of our local version. Hope it works!

~~ros_test/ src/ dnn_detector/ (my_package) cv_bridge/ (from source)~~

This is my CMakelists

cmake_minimum_required(VERSION 2.8.3)
project(dnn_detector)

add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
    roscpp
    roslib
    std_msgs
    sensor_msgs
    geometry_msgs
    dynamic_reconfigure
    cv_bridge
    image_transport
    message_generation
    )

find_package(Boost REQUIRED COMPONENTS thread)

set(OpenCV_DIR "/usr/local/share/OpenCV/")
find_package(OpenCV 3.4.1 REQUIRED)
find_package(yaml-cpp REQUIRED)

################################################################################
# Declare catkin specific configuration to be passed to dependent projects
##################################################################################
catkin_package(
    INCLUDE_DIRS include
    CATKIN_DEPENDS
    roscpp
    roslib
    std_msgs
    sensor_msgs
    geometry_msgs
    dynamic_reconfigure
    cv_bridge
    image_transport
    message_runtime
    DEPENDS Boost OpenCV
    )

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
    include
    ${OpenCV_INCLUDE_DIRS}
    ${catkin_INCLUDE_DIRS}
    ${Boost_INCLUDE_DIRS}
    ${YAML_CPP_INCLUDE_DIR}
    )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node dnn_detector_node.cpp
    src/dnn_detector.cpp
    )

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} dnn_detector_generate_messages_cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node
    ${catkin_LIBRARIES}
    ${OpenCV_LIBS}
    ${Boost_LIBRARIES}
    ${YAML_CPP_LIBRARIES}
    )