一、前言
EGO-Planner 浙江大学 FAST-LAB 实验室的开源轨迹规划算法是，受到 IEEE Spectrum 等知名科技媒体的报道，其理论技术较为前沿，是一种不依赖于ESDF，基于B样条的规划算法，并且规划成功率、算法消耗时间、代价数值等性能方面都要高于其他几种知名算法。
而 EGO-Swarm 是基于 EGO-Planner 拓展的去中心化的无人机集群算法，有助于智能小车或自主无人机集群的规划的学习与开发
由于 EGO-Planner 是 EGO-Swarm 的一部分，并且他们的安装其实差别不大，因此本文主要介绍 EGO-Swarm 的编译与运行，参考
https://github.com/ZJU-FAST-Lab/ego-planner-swarm
https://github.com/ZJU-FAST-Lab/ego-planner
GitHub - ZJU-FAST-Lab/Fast-Drone-250: hardware and software design of the 250mm autonomous drone
由于 Jetson 系列开发板常用于当作机载电脑，因此本文介绍如何在 Jetson Orin NX 开发板上编译和运行 EGO-Swarm，当然本文对 EGO-Planner 同样适用。
二、编译 EGO-Swarm
首先安装依赖
sudo apt-get install libarmadillo-dev然后创建并进入工作空间
mkdir -p ~/catkin_ws/src/
cd ~/catkin_ws/src/从 GitHub 上下载 EGO-Swarm 源码
git clone https://github.com/ZJU-FAST-Lab/ego-planner-swarm.git进入 EGO-Swarm 工作空间并编译
cd ~/catkin_ws/src/ego-planner-swarm
catkin_make编译完成显示如下结果
三、运行 EGO-Swarm
接下来我们运行 EGO-Swarm，主要分为仿真和实验两个部分
3.1 EGO-Swarm 仿真
首先通过快捷键 ctrl + alt + A 打开超级终端，如果没有安装则参考下文安装
Jetson Orin NX 开发指南（2）: 基本环境配置_想要个小姑娘的博客-CSDN博客
将超级终端划分为两个终端，全选后 source 一下工作空间，终端输入
source ~/catkin_ws/src/ego-planner-swarm/devel/setup.bash
在第一个终端输入
roslaunch ego_planner rviz.launch在第二个终端输入
roslaunch ego_planner swarm.launch如下所示
依次执行可以得到如下结果
至此，EGO-Swarm 的仿真运行就实现了！
3.2 EGO-Swarm 实验
由于条件有限，我么在此仅仅只是将 EGO-Swarm 与 VINS-Fusion 进行连接，并且这里只涉及单个无人机（在这种情况下 EGO-Swarm 与 EGO-Planner 是等价的），其中 EGO-Swarm 单个无人机通过 VINS-Fusion 来获取里程计信息，同时通过深度相机数据来获取周围环境的情况。
3.2.1 创建文件配置
首先需要配置实验用的一些参数，对应于仿真中的 advanced_param.xml 文件，
其次需要配置调用 VINS-Fusion 里程计信息和 Realsense 深度相机信息的 launch 启动文件，对应于仿真中的 single_run_in_sim.launch 文件，
此外还需要用于可视化的 rviz 文件，对应于仿真中的 default.rviz 文件，
具体的配置可以参考 FAST-LAB 实验室的 fast-drone-250 中采用的 xml 和 launch 文件：
GitHub - ZJU-FAST-Lab/Fast-Drone-250: hardware and software design of the 250mm autonomous drone
主要是如下三个文件
但是由于 VINS-Fusion 中里程计发布的话题是 /vins_estimator/imu_propagate，而上面订阅的话题是 /vins_fusion/imu_propagate，这是因为在 fast-drone-250 中，vins_estimator 节点被重命名为了 vins_fusion，从而产生了差异，只需修改以下订阅的话题即可，其余的可以不做修改，（当然如果标定了相机内外参以及 imu 的噪声，则可以将之后的数据修改上去，VINS-Fusion 或者 EGO-Swarm 上都要修改），具体操作如下
在 ~/catkin_ws/src/ego-planner-swarm/src/planner/plan_manage/launch/ 路径下创建四个文件
（1）advanced_param_exp.xml，其内容如下
<launch>
<arg name="map_size_x_"/>
<arg name="map_size_y_"/>
<arg name="map_size_z_"/>
<arg name="odometry_topic"/>
<arg name="camera_pose_topic"/>
<arg name="depth_topic"/>
<arg name="cloud_topic"/>
<arg name="cx"/>
<arg name="cy"/>
<arg name="fx"/>
<arg name="fy"/>
<arg name="max_vel"/>
<arg name="max_acc"/>
<arg name="planning_horizon"/>
<arg name="point_num"/>
<arg name="point0_x"/>
<arg name="point0_y"/>
<arg name="point0_z"/>
<arg name="point1_x"/>
<arg name="point1_y"/>
<arg name="point1_z"/>
<arg name="point2_x"/>
<arg name="point2_y"/>
<arg name="point2_z"/>
<arg name="point3_x"/>
<arg name="point3_y"/>
<arg name="point3_z"/>
<arg name="point4_x"/>
<arg name="point4_y"/>
<arg name="point4_z"/>
<arg name="flight_type"/>
<arg name="use_distinctive_trajs"/>
<arg name="obj_num_set"/>
<arg name="drone_id"/>
<!-- main node -->
<!-- <node pkg="ego_planner" name="ego_planner_node" type="ego_planner_node" output="screen" launch-prefix="valgrind"> -->
<node pkg="ego_planner" name="drone_$(arg drone_id)_ego_planner_node" type="ego_planner_node" output="screen">
<remap from="~odom_world" to="$(arg odometry_topic)"/>
<remap from="~planning/bspline" to = "/drone_$(arg drone_id)_planning/bspline"/>
<remap from="~planning/data_display" to = "/drone_$(arg drone_id)_planning/data_display"/>
<remap from="~planning/broadcast_bspline_from_planner" to = "/broadcast_bspline"/>
<remap from="~planning/broadcast_bspline_to_planner" to = "/broadcast_bspline"/>
<remap from="~grid_map/odom" to="$(arg odometry_topic)"/>
<remap from="~grid_map/cloud" to="$(arg cloud_topic)"/>
<remap from="~grid_map/pose" to = "$(arg camera_pose_topic)"/>
<remap from="~grid_map/depth" to = "$(arg depth_topic)"/>
<!-- planning fsm -->
<param name="fsm/flight_type" value="$(arg flight_type)" type="int"/>
<param name="fsm/thresh_replan_time" value="1.0" type="double"/>
<param name="fsm/thresh_no_replan_meter" value="1.0" type="double"/>
<param name="fsm/planning_horizon" value="$(arg planning_horizon)" type="double"/> <!--always set to 1.5 times grater than sensing horizen-->
<param name="fsm/planning_horizen_time" value="3" type="double"/>
<param name="fsm/emergency_time" value="1.0" type="double"/>
<param name="fsm/realworld_experiment" value="true"/>
<param name="fsm/fail_safe" value="true"/>
<param name="fsm/waypoint_num" value="$(arg point_num)" type="int"/>
<param name="fsm/waypoint0_x" value="$(arg point0_x)" type="double"/>
<param name="fsm/waypoint0_y" value="$(arg point0_y)" type="double"/>
<param name="fsm/waypoint0_z" value="$(arg point0_z)" type="double"/>
<param name="fsm/waypoint1_x" value="$(arg point1_x)" type="double"/>
<param name="fsm/waypoint1_y" value="$(arg point1_y)" type="double"/>
<param name="fsm/waypoint1_z" value="$(arg point1_z)" type="double"/>
<param name="fsm/waypoint2_x" value="$(arg point2_x)" type="double"/>
<param name="fsm/waypoint2_y" value="$(arg point2_y)" type="double"/>
<param name="fsm/waypoint2_z" value="$(arg point2_z)" type="double"/>
<param name="fsm/waypoint3_x" value="$(arg point3_x)" type="double"/>
<param name="fsm/waypoint3_y" value="$(arg point3_y)" type="double"/>
<param name="fsm/waypoint3_z" value="$(arg point3_z)" type="double"/>
<param name="fsm/waypoint4_x" value="$(arg point4_x)" type="double"/>
<param name="fsm/waypoint4_y" value="$(arg point4_y)" type="double"/>
<param name="fsm/waypoint4_z" value="$(arg point4_z)" type="double"/>
<param name="grid_map/resolution" value="0.15" />
<param name="grid_map/map_size_x" value="$(arg map_size_x_)" />
<param name="grid_map/map_size_y" value="$(arg map_size_y_)" />
<param name="grid_map/map_size_z" value="$(arg map_size_z_)" />
<param name="grid_map/local_update_range_x" value="5.5" />
<param name="grid_map/local_update_range_y" value="5.5" />
<param name="grid_map/local_update_range_z" value="4.5" />
<param name="grid_map/obstacles_inflation" value="0.299" />
<param name="grid_map/local_map_margin" value="10"/>
<param name="grid_map/ground_height" value="-0.01"/>
<!-- camera parameter -->
<param name="grid_map/cx" value="$(arg cx)"/>
<param name="grid_map/cy" value="$(arg cy)"/>
<param name="grid_map/fx" value="$(arg fx)"/>
<param name="grid_map/fy" value="$(arg fy)"/>
<!-- depth filter -->
<param name="grid_map/use_depth_filter" value="true"/>
<param name="grid_map/depth_filter_tolerance" value="0.15"/>
<param name="grid_map/depth_filter_maxdist" value="5.0"/>
<param name="grid_map/depth_filter_mindist" value="0.2"/>
<param name="grid_map/depth_filter_margin" value="2"/>
<param name="grid_map/k_depth_scaling_factor" value="1000.0"/>
<param name="grid_map/skip_pixel" value="2"/>
<!-- local fusion -->
<param name="grid_map/p_hit" value="0.65"/>
<param name="grid_map/p_miss" value="0.35"/>
<param name="grid_map/p_min" value="0.12"/>
<param name="grid_map/p_max" value="0.90"/>
<param name="grid_map/p_occ" value="0.80"/>
<param name="grid_map/min_ray_length" value="0.3"/>
<param name="grid_map/max_ray_length" value="5.0"/>
<param name="grid_map/visualization_truncate_height" value="1.8"/>
<param name="grid_map/show_occ_time" value="false"/>
<param name="grid_map/pose_type" value="2"/>
<param name="grid_map/frame_id" value="world"/>
<!-- planner manager -->
<param name="manager/max_vel" value="$(arg max_vel)" type="double"/>
<param name="manager/max_acc" value="$(arg max_acc)" type="double"/>
<param name="manager/max_jerk" value="4" type="double"/>
<param name="manager/control_points_distance" value="0.4" type="double"/>
<param name="manager/feasibility_tolerance" value="0.05" type="double"/>
<param name="manager/planning_horizon" value="$(arg planning_horizon)" type="double"/>
<param name="manager/use_distinctive_trajs" value="$(arg use_distinctive_trajs)" type="bool"/>
<param name="manager/drone_id" value="$(arg drone_id)"/>
<!-- trajectory optimization -->
<param name="optimization/lambda_smooth" value="1.0" type="double"/>
<param name="optimization/lambda_collision" value="0.5" type="double"/>
<param name="optimization/lambda_feasibility" value="0.1" type="double"/>
<param name="optimization/lambda_fitness" value="1.0" type="double"/>
<param name="optimization/dist0" value="0.5" type="double"/>
<param name="optimization/swarm_clearance" value="0.5" type="double"/>
<param name="optimization/max_vel" value="$(arg max_vel)" type="double"/>
<param name="optimization/max_acc" value="$(arg max_acc)" type="double"/>
<param name="bspline/limit_vel" value="$(arg max_vel)" type="double"/>
<param name="bspline/limit_acc" value="$(arg max_acc)" type="double"/>
<param name="bspline/limit_ratio" value="1.1" type="double"/>
<!-- objects prediction -->
<param name="prediction/obj_num" value="$(arg obj_num_set)" type="int"/>
<param name="prediction/lambda" value="1.0" type="double"/>
<param name="prediction/predict_rate" value="1.0" type="double"/>
</node>
</launch>（2）single_run_in_exp.launch，其内容如下
<launch>
<!-- number of moving objects -->
<arg name="obj_num" value="10" />
<arg name="drone_id" value="0"/>
<arg name="map_size_x" value="100"/>
<arg name="map_size_y" value="50"/>
<arg name="map_size_z" value="3.0"/>
<arg name="odom_topic" value="/vins_estimator/imu_propagate"/>
<!-- main algorithm params -->
<include file="$(find ego_planner)/launch/advanced_param_exp.xml">
<arg name="drone_id" value="$(arg drone_id)"/>
<arg name="map_size_x_" value="$(arg map_size_x)"/>
<arg name="map_size_y_" value="$(arg map_size_y)"/>
<arg name="map_size_z_" value="$(arg map_size_z)"/>
<arg name="odometry_topic" value="$(arg odom_topic)"/>
<arg name="obj_num_set" value="$(arg obj_num)" />
<!-- camera pose: transform of camera frame in the world frame -->
<!-- depth topic: depth image, 640x480 by default -->
<!-- don't set cloud_topic if you already set these ones! -->
<arg name="camera_pose_topic" value="nouse1"/>
<arg name="depth_topic" value="/camera/depth/image_rect_raw"/>
<!-- topic of point cloud measurement, such as from LIDAR -->
<!-- don't set camera pose and depth, if you already set this one! -->
<arg name="cloud_topic" value="nouse2"/>
<!-- intrinsic params of the depth camera -->
<arg name="cx" value="323.3316345214844"/>
<arg name="cy" value="234.95498657226562"/>
<arg name="fx" value="384.39654541015625"/>
<arg name="fy" value="384.39654541015625"/>
<!-- maximum velocity and acceleration the drone will reach -->
<arg name="max_vel" value="0.5" />
<arg name="max_acc" value="6.0" />
<!--always set to 1.5 times grater than sensing horizen-->
<arg name="planning_horizon" value="6" />
<arg name="use_distinctive_trajs" value="false" />
<!-- 1: use 2D Nav Goal to select goal -->
<!-- 2: use global waypoints below -->
<arg name="flight_type" value="1" />
<!-- global waypoints -->
<!-- It generates a piecewise min-snap traj passing all waypoints -->
<arg name="point_num" value="1" />
<arg name="point0_x" value="15" />
<arg name="point0_y" value="0" />
<arg name="point0_z" value="1" />
<arg name="point1_x" value="0.0" />
<arg name="point1_y" value="0.0" />
<arg name="point1_z" value="1.0" />
<arg name="point2_x" value="15.0" />
<arg name="point2_y" value="0.0" />
<arg name="point2_z" value="1.0" />
<arg name="point3_x" value="0.0" />
<arg name="point3_y" value="0.0" />
<arg name="point3_z" value="1.0" />
<arg name="point4_x" value="15.0" />
<arg name="point4_y" value="0.0" />
<arg name="point4_z" value="1.0" />
</include>
<!-- trajectory server -->
<node pkg="ego_planner" name="drone_$(arg drone_id)_traj_server" type="traj_server" output="screen">
<!-- <remap from="position_cmd" to="/setpoints_cmd"/> -->
<remap from="~planning/bspline" to="drone_$(arg drone_id)_planning/bspline"/>
<param name="traj_server/time_forward" value="1.0" type="double"/>
</node>
</launch>（3）rviz_exp.launch 文件，其内容如下
<launch>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ego_planner)/launch/default_exp.rviz" required="true" />
</launch>（4）default_exp.rviz 文件，其内容如下
Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /drone01/Planning1
- /drone01/Planning1/drone_path1/Offset1
- /drone01/Mapping1/map inflate1
- /Odometry1/Shape1
Splitter Ratio: 0.43611112236976624
Tree Height: 517
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Name: Time
SyncMode: 0
SyncSource: map inflate
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 1
Class: rviz/Axes
Enabled: true
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: <Fixed Frame>
Show Trail: false
Value: true
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 1000
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Group
Displays:
- Class: rviz/Group
Displays:
- Class: rviz/Marker
Enabled: true
Marker Topic: /drone_0_ego_planner_node/goal_point
Name: goal_point
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /ego_planner_node/global_list
Name: global_path
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /drone_0_ego_planner_node/optimal_list
Name: optimal_traj
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: false
Marker Topic: /ego_planner_node/a_star_list
Name: AStar
Namespaces:
{}
Queue Size: 100
Value: false
- Class: rviz/Marker
Enabled: true
Marker Topic: /drone_0_ego_planner_node/init_list
Name: InitTraj
Namespaces:
{}
Queue Size: 100
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 29; 108; 212
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Billboards
Line Width: 0.10000000149011612
Name: drone_path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /drone_0_odom_visualization/path
Unreliable: false
Value: true
Enabled: true
Name: Planning
- Class: rviz/Group
Displays:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 1.565000057220459
Min Value: 0.06499999761581421
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 29; 108; 212
Color Transformer: AxisColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: map inflate
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.15000000596046448
Style: Boxes
Topic: /drone_0_ego_planner_node/grid_map/occupancy_inflate
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Name: Mapping
- Class: rviz/Group
Displays:
- Class: rviz/Marker
Enabled: true
Marker Topic: /drone_0_odom_visualization/robot
Name: robot
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /drone_0_pcl_render_node/depth
Max Value: 1
Median window: 5
Min Value: 0
Name: depth
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
Enabled: true
Name: Simulation
Enabled: true
Name: drone0
- Class: rviz/Image
Enabled: false
Image Topic: /camera/depth/image_rect_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /vins_estimator/path
Unreliable: false
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 1
Name: Odometry
Position Tolerance: 0.10000000149011612
Queue Size: 10
Shape:
Alpha: 1
Axes Length: 0.5
Axes Radius: 0.20000000298023224
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Axes
Topic: /vins_estimator/odometry
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 255; 255; 255
Default Light: true
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 14.900397300720215
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -1.706774115562439
Y: -2.435426712036133
Z: 5.149927346792538e-06
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.0197973251342773
Target Frame: <Fixed Frame>
Yaw: 3.5065858364105225
Saved:
- Class: rviz/FPS
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: FPS
Near Clip Distance: 0.009999999776482582
Pitch: 0.4000000059604645
Position:
X: -11
Y: 0
Z: 8
Roll: 0
Target Frame: my_view
Yaw: 0
- Class: rviz/FPS
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: FPS
Near Clip Distance: 0.009999999776482582
Pitch: 0.5
Position:
X: -10
Y: 0
Z: 10
Roll: 0
Target Frame: my_view
Yaw: 0
- Class: rviz/FPS
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: FPS
Near Clip Distance: 0.009999999776482582
Pitch: 0.6000000238418579
Position:
X: -10
Y: 0
Z: 10
Roll: 0
Target Frame: my_view
Yaw: 0
Window Geometry:
Displays:
collapsed: false
Height: 668
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 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
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 608
X: 1265
Y: 60
depth:
collapsed: false修改完成后保存即可！
3.2.2 VINS-Fusion-gpu + EGO-Swarm 实验
接下来我们先运行 Realsense 和 VINS-Fusion-gpu，如果没有安装 Realsense 和 VINS-Fusion-gpu，参考以下两篇文章
Jetson Orin NX 开发指南（4）: 安装 CUDA 和 Realsense_想要个小姑娘的博客-CSDN博客
Jetson Orin NX 开发指南（6）: VINS-Fusion-gpu 的编译和运行_想要个小姑娘的博客-CSDN博客
首先打开超级终端，划分为四个终端，
然后在第一个终端输入
roslaunch realsense2_camera rs_camera.launch在第二个终端输入
source ~/catkin_ws/src/vins-fusion-gpu/devel/setup.bash
roslaunch vins realsense_d435i.launch第三个终端输入
source ~/catkin_ws/src/ego-planner-swarm/devel/setup.bash
roslaunch ego_planner single_run_in_exp.launch第四个终端输入
source ~/catkin_ws/src/ego-planner-swarm/devel/setup.bash
roslaunch ego_planner rviz_exp.launch如下所示
依次运行后显示如下结果
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