微空 AI 智能无人机教程 3 - 机载电脑环境配置

sudo apt-get update
sudo apt-get upgrade -y

sudo apt install software-properties-common
sudo add-apt-repository universe

sudo vim /etc/hosts

151.101.84.133 raw.githubusercontent.com

date

sudo date -s "2026-07-01 12:00:00"

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo sed -i 's/Suites: noble$/Suites: noble noble-updates/' /etc/apt/sources.list.d/ubuntu.sources

sudo apt update
sudo apt upgrade -y
sudo apt install ros-dev-tools -y

sudo apt-get install ros-jazzy-desktop -y

echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
source ~/.bashrc

sudo rosdep init
rosdep update

ros2 run demo_nodes_cpp talker

ros2 run demo_nodes_py listener

lsusb

sudo apt-get install ros-jazzy-librealsense2 ros-jazzy-realsense2-camera ros-jazzy-realsense2-camera-msgs ros-jazzy-realsense2-description -y

sudo curl -sSL https://raw.githubusercontent.com/IntelRealSense/librealsense/master/config/99-realsense-libusb.rules -o /etc/udev/rules.d/99-realsense-libusb.rules
sudo udevadm control --reload-rules && sudo udevadm trigger

cd /opt/ros/jazzy/share/realsense2_camera/launch/
sudo chmod 777 .
touch mvd35_d430_launch.py
sudo vim mvd35_d430_launch.py

# Copyright 2023 Intel Corporation. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

"""Launch realsense2_camera node."""
import os
import yaml
from launch import LaunchDescription
import launch_ros.actions
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.substitutions import LaunchConfiguration


configurable_parameters = [{'name': 'camera_name',               'default': 'D430', 'description': 'camera unique name'},
                        {'name': 'camera_namespace',             'default': 'camera', 'description': 'namespace for camera'},
                        {'name': 'serial_no',                    'default': "''", 'description': 'choose device by serial number'},
                        {'name': 'usb_port_id',                  'default': "''", 'description': 'choose device by usb port id'},
                        {'name': 'device_type',                  'default': "''", 'description': 'choose device by type'},
                        {'name': 'config_file',                  'default': "''", 'description': 'yaml config file'},
                        {'name': 'json_file_path',               'default': "''", 'description': 'allows advanced configuration'},
                        {'name': 'initial_reset',                'default': 'false', 'description': "''"},
                        {'name': 'accelerate_gpu_with_glsl',     'default': "false", 'description': 'enable GPU acceleration with GLSL'},
                        {'name': 'rosbag_filename',              'default': "''", 'description': 'A realsense bagfile to run from as a device'},
                        {'name': 'log_level',                    'default': 'info', 'description': 'debug log level [DEBUG|INFO|WARN|ERROR|FATAL]'},
                        {'name': 'output',                       'default': 'screen', 'description': 'pipe node output [screen|log]'},
                        {'name': 'enable_color',                 'default': 'false', 'description': 'enable color stream'},
                        {'name': 'rgb_camera.color_profile',     'default': '0,0,0', 'description': 'color stream profile'},
                        {'name': 'rgb_camera.color_format',      'default': 'RGB8', 'description': 'color stream format'},
                        {'name': 'rgb_camera.enable_auto_exposure', 'default': 'false', 'description': 'enable/disable auto exposure for color image'},
                        {'name': 'enable_depth',                 'default': 'false', 'description': 'enable depth stream'},
                        {'name': 'enable_infra',                 'default': 'true', 'description': 'enable infra0 stream'},
                        {'name': 'enable_infra1',                'default': 'true', 'description': 'enable infra1 stream'},
                        {'name': 'enable_infra2',                'default': 'true', 'description': 'enable infra2 stream'},
                        {'name': 'depth_module.depth_profile',   'default': '0,0,0', 'description': 'depth stream profile'},
                        {'name': 'depth_module.depth_format',    'default': 'Z16', 'description': 'depth stream format'},
                        {'name': 'depth_module.infra_profile',   'default': '480,270,30', 'description': 'infra streams (0/1/2) profile'},
                        {'name': 'depth_module.infra_format',    'default': 'Y8', 'description': 'infra0 stream format'},
                        {'name': 'depth_module.infra1_format',   'default': 'Y8', 'description': 'infra1 stream format'},
                        {'name': 'depth_module.infra2_format',   'default': 'Y8', 'description': 'infra2 stream format'},
                        {'name': 'depth_module.emitter_enabled', 'default': '0', 'description': 'Depth module laser setup'},
                        {'name': 'depth_module.exposure',        'default': '8500', 'description': 'Depth module manual exposure value'},
                        {'name': 'depth_module.gain',            'default': '16', 'description': 'Depth module manual gain value'},
                        {'name': 'depth_module.hdr_enabled',     'default': 'false', 'description': 'Depth module hdr enablement flag. Used for hdr_merge filter'},
                        {'name': 'depth_module.enable_auto_exposure', 'default': 'true', 'description': 'enable/disable auto exposure for depth image'},
                        {'name': 'depth_module.infra1.enable_auto_exposure', 'default': 'true', 'description': 'enable/disable auto exposure for infra1 image'},
                        {'name': 'depth_module.infra2.enable_auto_exposure', 'default': 'true', 'description': 'enable/disable auto exposure for infra2 image'},
                        {'name': 'depth_module.exposure.1',      'default': '7500', 'description': 'Depth module first exposure value. Used for hdr_merge filter'},
                        {'name': 'depth_module.gain.1',          'default': '16', 'description': 'Depth module first gain value. Used for hdr_merge filter'},
                        {'name': 'depth_module.exposure.2',      'default': '1', 'description': 'Depth module second exposure value. Used for hdr_merge filter'},
                        {'name': 'depth_module.gain.2',          'default': '16', 'description': 'Depth module second gain value. Used for hdr_merge filter'},
                        {'name': 'enable_sync',                  'default': 'false', 'description': "'enable sync mode'"},
                        {'name': 'enable_rgbd',                  'default': 'false', 'description': "'enable rgbd topic'"},
                        {'name': 'enable_gyro',                  'default': 'false', 'description': "'enable gyro stream'"},
                        {'name': 'enable_accel',                 'default': 'false', 'description': "'enable accel stream'"},
                        {'name': 'gyro_fps',                     'default': '0', 'description': "''"},
                        {'name': 'accel_fps',                    'default': '0', 'description': "''"},
                        {'name': 'unite_imu_method',             'default': "0", 'description': '[0-None, 1-copy, 2-linear_interpolation]'},
                        {'name': 'clip_distance',                'default': '-2.', 'description': "''"},
                        {'name': 'angular_velocity_cov',         'default': '0.01', 'description': "''"},
                        {'name': 'linear_accel_cov',             'default': '0.01', 'description': "''"},
                        {'name': 'diagnostics_period',           'default': '0.0', 'description': 'Rate of publishing diagnostics. 0=Disabled'},
                        {'name': 'publish_tf',                   'default': 'false', 'description': '[bool] enable/disable publishing static & dynamic TF'},
                        {'name': 'tf_publish_rate',              'default': '0.0', 'description': '[double] rate in Hz for publishing dynamic TF'},
                        {'name': 'pointcloud.enable',            'default': 'false', 'description': ''},
                        {'name': 'pointcloud.stream_filter',     'default': '2', 'description': 'texture stream for pointcloud'},
                        {'name': 'pointcloud.stream_index_filter','default': '0', 'description': 'texture stream index for pointcloud'},
                        {'name': 'pointcloud.ordered_pc',        'default': 'false', 'description': ''},
                        {'name': 'pointcloud.allow_no_texture_points', 'default': 'false', 'description': "''"},
                        {'name': 'align_depth.enable',           'default': 'false', 'description': 'enable align depth filter'},
                        {'name': 'colorizer.enable',             'default': 'false', 'description': 'enable colorizer filter'},
                        {'name': 'decimation_filter.enable',     'default': 'false', 'description': 'enable_decimation_filter'},
                        {'name': 'spatial_filter.enable',        'default': 'false', 'description': 'enable_spatial_filter'},
                        {'name': 'temporal_filter.enable',       'default': 'false', 'description': 'enable_temporal_filter'},
                        {'name': 'disparity_filter.enable',      'default': 'false', 'description': 'enable_disparity_filter'},
                        {'name': 'hole_filling_filter.enable',   'default': 'false', 'description': 'enable_hole_filling_filter'},
                        {'name': 'hdr_merge.enable',             'default': 'false', 'description': 'hdr_merge filter enablement flag'},
                        {'name': 'wait_for_device_timeout',      'default': '-1.', 'description': 'Timeout for waiting for device to connect (Seconds)'},
                        {'name': 'reconnect_timeout',            'default': '6.', 'description': 'Timeout(seconds) between consequtive reconnection attempts'},
                        ]

def declare_configurable_parameters(parameters):
    return [DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description']) for param in parameters]

def set_configurable_parameters(parameters):
    return dict([(param['name'], LaunchConfiguration(param['name'])) for param in parameters])

def yaml_to_dict(path_to_yaml):
    with open(path_to_yaml, "r") as f:
        return yaml.load(f, Loader=yaml.SafeLoader)

def launch_setup(context, params, param_name_suffix=''):
    _config_file = LaunchConfiguration('config_file' + param_name_suffix).perform(context)
    params_from_file = {} if _config_file == "''" else yaml_to_dict(_config_file)

    _output = LaunchConfiguration('output' + param_name_suffix)
    if(os.getenv('ROS_DISTRO') == 'foxy'):
        _output = context.perform_substitution(_output)

    return [
        launch_ros.actions.Node(
            package='realsense2_camera',
            namespace=LaunchConfiguration('camera_namespace' + param_name_suffix),
            name=LaunchConfiguration('camera_name' + param_name_suffix),
            executable='realsense2_camera_node',
            parameters=[params, params_from_file],
            output=_output,
            arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level' + param_name_suffix)],
            emulate_tty=True,
            )
    ]

def generate_launch_description():
    return LaunchDescription(declare_configurable_parameters(configurable_parameters) + [
        OpaqueFunction(function=launch_setup, kwargs = {'params' : set_configurable_parameters(configurable_parameters)})
    ])

rs-enumerate-devices

ros2 launch realsense2_camera mvd35_d430_launch.py

ros2 topic list

ros2 topic echo /camera/D430/infra1/camera_info --once

ros2 topic hz /camera/D430/infra1/image_rect_raw

ros2 run rqt_image_view rqt_image_view

sudo apt-get install ros-jazzy-mavros ros-jazzy-mavros-extras -y

cd ~
wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh
sudo chmod a+x install_geographiclib_datasets.sh
sudo ./install_geographiclib_datasets.sh

# ===== 话题相关 (Topic) =====
ros2 topic list                               # 列出当前所有活动话题
ros2 topic list -t                            # 列出话题及其消息类型
ros2 topic echo /mavros/imu/data_raw          # 实时打印并查看话题内容
ros2 topic hz /mavros/imu/data_raw            # 查看话题的实际发布频率
ros2 topic bw /camera/D430/infra1/image_rect  # 查看话题的数据带宽占用
ros2 topic info /mavros/imu/data_raw -v       # 查看话题的详细发布与订阅连接信息
ros2 topic pub /topic_name std_msgs/msg/String "data: 'test'" # 命令行向话题手动发布一次消息

# ===== 节点相关 (Node) =====
ros2 node list                                # 列出当前系统内所有运行的节点
ros2 node info /mavros                        # 查看指定节点的发布、订阅话题和服务接口

# ===== 服务相关 (Service) =====
ros2 service list                             # 列出当前所有可用的服务
ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: true}" # 命令行调用服务（如解锁电机）

# ===== 接口与数据类型 (Interface) =====
ros2 interface show sensor_msgs/msg/Imu       # 查看指定消息或服务类型的具体数据结构定义

# ===== 数据记录与回放 (Bag) =====
ros2 bag record /mavros/imu/data_raw -o test_imu  # 录制指定话题的数据至本地文件（用于算法调试）
ros2 bag play test_imu                        # 回放录制的历史话题数据