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I experienced recently the same issue with ROS Kinetic, I ended up understanding that Python 3 wasn't having all the required packages to run Cv_Bridge smoothly, since Cv_Bridge builds for Python 2.7. Also ROS is based on Python 2 which is already deprecated since Jan 1st, 2020.

All I had to do was to install the missing dependencies for python3 and build Cv_Bridge from the official vison_opencv repository. (Please refer to this Stackoverflow answer for detailed instructions) .

And for Keras, you need to have at least Tensorflow 2.2.0 installed, which itself needs python 3 to work properly on your machine. You can work around with Tensorflow 2.1.0 that is supported by python 2.7, but you will be restricted on resources and implementation solutions.