主从机部署ROS，并运行 VINS-Fusion

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 nvidia@192.168.1.211
nvidia@192.168.1.211'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IP

source 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IP

 source 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