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I had a similar problem, and solved it by modifying cv_bridgeConfig.cmake file.

cd /opt/ros/melodic/share/cv_bridge/cmake

sudo gedit cv_bridgeConfig.cmake

Replaced line 96

set(_include_dirs "include;/usr/include;/usr/include/opencv2")

and line 119#

set(libraries "cv_bridge;/usr/local/lib/libopencv_core.so.4.5.4;/usr/local/lib/libopencv_imgproc.so.4.5.4;/usr/local/lib/libopencv_imgcodecs.so.4.5.4")

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