主从机部署ROS，并运行 VINS |
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首先将工作站（主机）和无人机（从机）连接到同一个路由器上，并保证他们的IP地址在同一个网段。 主机（工作站）IP 192.168.1.201从机（无人机）IP 192.168.1.211连接成功后在主机端测试是否能连上从机：输入 lilabws01@lilabws01:~$ ping 192.168.1.211如下结果为连接成功 PING 192.168.1.211 (192.168.1.211) 56(84) bytes of data. 64 字节，来自 192.168.1.211: icmp_seq=1 ttl=64 时间=44.7 毫秒 64 字节，来自 192.168.1.211: icmp_seq=2 ttl=64 时间=66.0 毫秒 64 字节，来自 192.168.1.211: icmp_seq=3 ttl=64 时间=89.2 毫秒 64 字节，来自 192.168.1.211: icmp_seq=4 ttl=64 时间=111 毫秒 64 字节，来自 192.168.1.211: icmp_seq=5 ttl=64 时间=31.4 毫秒接下来在从机中命令行输入 ssh -X 主机账号@主机IP地址，然后输入主机密码进入主机终端 lilabws01@lilabws01:~/桌面$ ssh -X [email protected] [email protected]'s password: Welcome to Ubuntu 18.04.4 LTS (GNU/Linux 4.9.140-tegra aarch64) * Documentation: https://help.ubuntu.com * Management: https://landscape.canonical.com * Support: https://ubuntu.com/advantage * Strictly confined Kubernetes makes edge and IoT secure. Learn how MicroK8s just raised the bar for easy, resilient and secure K8s cluster deployment. https://ubuntu.com/engage/secure-kubernetes-at-the-edge This system has been minimized by removing packages and content that are not required on a system that users do not log into. To restore this content, you can run the 'unminimize' command. 709 packages can be updated. 509 updates are security updates. Last login: Mon Jun 26 20:47:29 2023 from 192.168.1.201 Xlib: extension "NV-GLX" missing on display "localhost:10.0". Xlib: extension "NV-GLX" missing on display "localhost:10.0". Xlib: extension "NV-GLX" missing on display "localhost:10.0".分别设置主机和从机的ROS_MASTER_URI（用于主机和从机的ROS通信） 设置主机 ROS_MASTER_URI 首先进入~/.bashrc界面 lilabws01@lilabws01:~$ sudo gedit ~/.bashrc在文本最后加入（如果已有则修改），并保存 export ROS_MASTER_URI=http://192.168.1.201:11311 # 主机IP export ROS_HOSTNAME=192.168.1.201 # 本地IP export ROS_IP=192.168.1.201 # 本地IPsource 当前该文件 lilabws01@lilabws01:~$ source ~/.bashrc设置从机 ROS_MASTER_URI 首先进入~/.bashrc界面 nvidia@NXX-02:~$ sudo gedit ~/.bashrc在文本最后加入（如果已有则修改），并保存 export ROS_MASTER_URI=http://192.168.1.201:11311 # 主机IP export ROS_HOSTNAME=192.168.1.211 # 本地IP export ROS_IP=192.168.1.211 # 本地IPsource 当前该文件 nvidia@NXX-02:~$ source ~/.bashrc在从机终端启动相机（二选一） nvidia@NXX-02:~$ roslaunch realsense2_camera rs_camera.launch nvidia@NXX-02:~$ roslaunch realsense2_camera rs_camera_vinsgpu.launch在主机终端查看是否能够搜到 ROS 话题 lilabws01@lilabws01:~$ rostopic list可以从机已经接受到从机传过来的话题了 lilabws01@lilabws01:~$ rostopic list /camera/accel/imu_info /camera/color/camera_info /camera/color/image_raw /camera/color/metadata /camera/depth/camera_info /camera/depth/image_rect_raw /camera/depth/metadata /camera/extrinsics/depth_to_color /camera/extrinsics/depth_to_infra1 /camera/extrinsics/depth_to_infra2 /camera/gyro/imu_info /camera/imu /camera/infra1/camera_info /camera/infra1/image_rect_raw /camera/infra1/metadata /camera/infra2/camera_info /camera/infra2/image_rect_raw /camera/infra2/metadata /camera/motion_module/parameter_descriptions /camera/motion_module/parameter_updates /camera/realsense2_camera_manager/bond /camera/rgb_camera/auto_exposure_roi/parameter_descriptions /camera/rgb_camera/auto_exposure_roi/parameter_updates /camera/rgb_camera/parameter_descriptions /camera/rgb_camera/parameter_updates /camera/stereo_module/auto_exposure_roi/parameter_descriptions /camera/stereo_module/auto_exposure_roi/parameter_updates /camera/stereo_module/parameter_descriptions /camera/stereo_module/parameter_updates /diagnostics /rosout /rosout_agg /tf /tf_static运行 vins-fusion 相关 launch 配置文件，使用vins-fusion算法估计无人机位姿 source ~/catkin_ws/devel/setup.bash rosrun vins vins_node /root/catkin_ws/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml调用rviz可视化运动轨迹和地图 rviz -d ~/catkin_ws/src/VINS-Fusion/config/vins_rviz_config.rviz |
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