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In this approach, it is assumed that you use catkin_make. You will first need to verify your python3 version (run python3 --version), its installation path as well as your catkin workspace path and modify the following commands if needed. What follows holds for python3.6 on Ubuntu 18.04 (aarch64).

Navigate to your catkin_ws root directory:

cd /home/$USER/catkin_ws

Rebuild geometry with python3:

catkin_make -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so --only-pkg-with-deps geometry

Or rebuild geometry2:

catkin_make -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so --only-pkg-with-deps geometry2

You will only need to rebuild tf2_ros (first command above) to address issues with PyInit__tf2. You can either rebuild the whole geometry or geometry2 packages as mentioned above (you must have one of these two installed already) or just rebuild tf2_ros with python3.

In this approach, it is assumed that you use catkin_make. You will first need to verify your python3 version (run python3 --version), its installation path as well as your catkin workspace path and modify the following commands if needed. What follows holds for python3.6 on Ubuntu 18.04 (aarch64).

Navigate to your catkin_ws root directory:

cd /home/$USER/catkin_ws

Rebuild geometry with python3: (if you have installed it already):

catkin_make -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so --only-pkg-with-deps geometry

Or And rebuild geometry2:

catkin_make -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so --only-pkg-with-deps geometry2

You will only need to rebuild tf2_ros (first command above) to address issues with PyInit__tf2. You can either rebuild the whole geometry or geometry2 packages [geometry2](https://github.com/ros/geometry2) package (recommended) as mentioned above (you must have one of these two installed already) or just rebuild tf2_ros with python3.

In this approach, it is assumed that you use catkin_make. You will first need to verify your python3 version (run python3 --version), its installation path as well as your catkin workspace path and modify the following commands if needed. What follows holds for python3.6 on Ubuntu 18.04 (aarch64).

Navigate to your catkin_ws root directory:

cd /home/$USER/catkin_ws

Rebuild geometry with python3 (if you have installed it already):

catkin_make -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so --only-pkg-with-deps geometry

And rebuild geometry2:

catkin_make -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so --only-pkg-with-deps geometry2

You will only need to rebuild tf2_ros (first command above) to address issues with PyInit__tf2. You can either rebuild the whole [geometry2](https://github.com/ros/geometry2) package (recommended) as mentioned above or just rebuild tf2_ros with python3. In my case, I have already both geometry and geometry2 on my ROS.

In this approach, it is assumed that you use catkin_make. You will first need to verify your python3 version (run python3 --version), its installation path as well as your catkin workspace path and modify the following commands if needed. What follows holds for python3.6 on Ubuntu 18.04 (aarch64).

Navigate to your catkin_ws root directory:

cd /home/$USER/catkin_ws

Rebuild geometry with python3 (if you have installed it already):

catkin_make -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so --only-pkg-with-deps geometry

And rebuild geometry2:

catkin_make -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so --only-pkg-with-deps geometry2

You will only need to rebuild tf2_rostf2_py to address issues with PyInit__tf2. You can either rebuild the whole [geometry2](https://github.com/ros/geometry2) package (recommended) as mentioned above or just rebuild tf2_rostf2_py with python3. In my case, I have already both geometry and geometry2 on my ROS.

In this approach, it is assumed that you use catkin_make. You will first need to verify your python3 version (run python3 --version), its installation path as well as your catkin workspace path and modify the following commands if needed. What follows holds for python3.6 on Ubuntu 18.04 (aarch64).

Navigate to your catkin_ws root directory:

cd /home/$USER/catkin_ws

Rebuild geometry with python3 (if you have installed it already):

catkin_make -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so --only-pkg-with-deps geometry

And rebuild geometry2:

catkin_make -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so --only-pkg-with-deps geometry2

You will only need to rebuild tf2_py to address issues with PyInit__tf2. You can either rebuild the whole [geometry2](https://github.com/ros/geometry2) package (recommended) geometry2 package as mentioned above or just rebuild tf2_py with python3. In my case, I have already both geometry and geometry2 on my ROS.

In this approach, it is assumed that you use catkin_make. You will first need to verify your python3 version (run python3 --version), its installation path as well as your catkin workspace path and modify the following commands if needed. What follows holds for python3.6 on Ubuntu 18.04 (aarch64).

Navigate to your catkin_ws root directory:

cd /home/$USER/catkin_ws

Rebuild geometry with python3 (if you have installed it already):

catkin_make -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so --only-pkg-with-deps geometry

And rebuild geometry2:

catkin_make -DPYTHON_EXECUTABLE:FILEPATH=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so --only-pkg-with-deps geometry2

You will only need to rebuild tf2_py to address issues with PyInit__tf2. You can either rebuild the whole geometry2 package as mentioned above or just rebuild tf2_py with python3. In my case, I have already both geometry and geometry2 on my ROS.