Jetson Orin NX 开发指南（7）: EGO-Swarm 的编译与运行

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

（2）single_run_in_exp.launch，其内容如下

（3）rviz_exp.launch 文件，其内容如下

（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: 
      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: 
      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: 
      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