Jetson AGX ORIN配置运行vins-fusion-gpu（Zed/D435）_jetson agx orin 的gpu驱动-CSDN博客

本文详细介绍了如何配置JetsonAGXOrin的Jetpack环境，包括CUDA、CUDNN和TensorRT。接着，文章讲述了如何设置ROSNoetic以及mavros，创建ROS工作空间并安装mavros。之后，作者提到了VINS-FUSION-GPU的迁移和编译过程，以及针对Ubuntu20和OpenCV4的修改。此外，还涵盖了D435i和ZED相机的配置，包括RealSenseSDK的安装与使用。

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1.配置Jetpack

通过配置jetpack可以完成对cuda，cudann，TensorRT等基本环境的配置

官网教程Getting Started with Jetson AGX Orin Developer Kit
https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit

sudo apt upgrade
sudo apt update
sudo apt dist-upgrade #！！！不要更新硬件
sudo reboot
sudo apt install nvidia-jetpack

sudo apt dist-upgrade这句，可以执行or不执行，我执行的很慢然后强制中断后，Jetson就开不了机了，后来是找厂家重新刷机才解决的…

为什么要刷机？因为jetson与普通ubuntu重装系统的方法不一样，他通过刷机让Jetson安装上Ubuntu20.04系统和各类自带的组件，刷机教程：https://blog.csdn.net/weixin_53776054/article/details/128552701

2.配置ROS & mavros

Jetson AGX ORIN的出厂设置为Ubuntu20，因此需要配置相应的Neotic的ros版本

1）配置基本ros环境

配置ROS软件源

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list'

添加ROS秘钥

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

安装ROS

sudo apt update
sudo apt install ros-noetic-desktop

配置ROS的运行环境

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

2）创建ros工作空间

创建ROS工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make

设置ROS环境

source ~/catkin_ws/devel/setup.bash

3）配置mavros

sudo apt-get install ros-noetic-mavros ros-noetic-mavros-extras ros-noetic-control-toolbox
cd /opt/ros/kinetic/lib/mavros
sudo ./install_geographiclib_datasets.sh

报错FCU: DeviceError:serial:open: Permission denied解决方法参考
给设备串口添加用户组权限即可sudo chmod 777 /dev/ttyACM0

3.配置VINS-FUSION-GPU

vins-fusion-gpu链接：https://github.com/pjrambo/VINS-Fusion-gpu

官方vins-fusion-gpu已经在ubuntu18和opencv3.4上进行了测试，迁移到ubuntu20和opencv4需要进行一定修改

卸载原来的ceres命令，cd到build文件夹

sudo make uninstall

1）安装Ceres

注意下载Ceres1.14.0版本，Ceres2.1.0亲测失败，会报错缺少absl

安装依赖

sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev libgflags-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev

源码编译安装Ceres

#下载安装包
wget ceres-solver.org/ceres-solver-1.14.0.tar.gz
#解压安装包
tar -xvf ceres-solver-1.14.0.tar.gz

cd ceres-solver-1.14.0
mkdir build
cd build
cmake ..
sudo make 
sudo make test
sudo make install

2）安装Vins-Fusion-gpu

网上有关资料很少，可以参考ubuntu20配置普通版本的vins

下载源码

cd ~/catkin_ws/src
git clone https://github.com/pjrambo/VINS-Fusion-gpu

添加头文件

在camera_model包中的头文件Chessboard.h中添加
#include <opencv2/imgproc/types_c.h>
#include <opencv2/calib3d/calib3d_c.h>
在CameraCalibration.h中添加
#include <opencv2/imgproc/types_c.h>
#include <opencv2/imgproc/imgproc_c.h>

修改opencv3的写法到opencv4

【这里建议用vscode批量修改，vscode请下载arm64.deb版本】

在文件中搜索CV_FONT_HERSHEY_SIMPLEX并替换成cv::FONT_HERSHEY_SIMPLEX

在文件中搜索CV_BGR2GRAY并替换成cv::COLOR_BGR2GRAY

在文件中搜索CV_GRAY2BGR并替换成cv::COLOR_GRAY2BGR

在文件中搜索CV_RGB2GRAY并替换成cv::COLOR_RGB2GRAY

在文件中搜索CV_GRAY2RGB并替换成cv::COLOR_GRAY2RGB

在文件中搜索CV_LOAD_IMAGE_GRAYSCALE并替换成cv::IMREAD_GRAYSCALE

在文件中搜索CV_FONT_HERSHEY_SIMPLEX并替换成cv::FONT_HERSHEY_SIMPLEX

编译

cd catkin_ws
cakin_make

4.D435i相机配置

需要先配置realsense的SDK，再配置reslsense-ros

配置realsense SDK

【方法一】失败

#注册服务器的公钥
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
#将服务器添加到存储库列表
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
#安装库（如果升级包，请参阅下面的部分）
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
#可选择安装开发人员和调试包
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

【方法二】成功

#1）下载源码
git clone -b v2.51.1 https://github.com/IntelRealSense/librealsense.git 
#2）安装依赖包
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev
#3）安装权限脚本
cd librealsense
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger 
#4）编译
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make
sudo make install
#5）使用
realsense-viewer

配置realsense-ros

源码配置，记得切换到ros1分支
https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy

直接apt-get安装

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera
sudo apt-get install ros-$ROS_DISTRO-realsense2-description

tju@tju-desktop:~$ rospack find realsense2_camera
/opt/ros/noetic/share/realsense2_camera

5.vins运行测试

rs_camera_vins.launch

<launch>
  <arg name="serial_no"           default=""/>
  <arg name="usb_port_id"         default=""/>
  <arg name="device_type"         default=""/>
  <arg name="json_file_path"      default=""/>
  <arg name="camera"              default="camera"/>
  <arg name="tf_prefix"           default="$(arg camera)"/>
  <arg name="external_manager"    default="false"/>
  <arg name="manager"             default="realsense2_camera_manager"/>
 
  <arg name="fisheye_width"       default="640"/>
  <arg name="fisheye_height"      default="480"/>
  <arg name="enable_fisheye"      default="false"/>
 
  <arg name="depth_width"         default="640"/>
  <arg name="depth_height"        default="480"/>
  <arg name="enable_depth"        default="true"/>
 
  <arg name="infra_width"        default="640"/>
  <arg name="infra_height"       default="480"/>
  <arg name="enable_infra1"       default="true"/>
  <arg name="enable_infra2"       default="true"/>
 
  <arg name="color_width"         default="640"/>
  <arg name="color_height"        default="480"/>
  <arg name="enable_color"        default="true"/>
 
  <arg name="fisheye_fps"         default="30"/>
  <arg name="depth_fps"           default="30"/>
  <arg name="infra_fps"           default="30"/>
  <arg name="color_fps"           default="30"/>
  <arg name="gyro_fps"            default="200"/>
  <arg name="accel_fps"           default="200"/>
  <arg name="enable_gyro"         default="true"/>
  <arg name="enable_accel"        default="true"/>
 
  <arg name="enable_pointcloud"         default="false"/>
  <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/>
  <arg name="pointcloud_texture_index"  default="0"/>
 
  <arg name="enable_sync"               default="true"/>
  <arg name="align_depth"               default="true"/>
 
  <arg name="publish_tf"                default="true"/>
  <arg name="tf_publish_rate"           default="0"/>
 
  <arg name="filters"                   default=""/>
  <arg name="clip_distance"             default="-2"/>
  <arg name="linear_accel_cov"          default="0.01"/>
  <arg name="initial_reset"             default="false"/>
  <arg name="unite_imu_method"          default="linear_interpolation"/>
  <arg name="topic_odom_in"             default="odom_in"/>
  <arg name="calib_odom_file"           default=""/>
  <arg name="publish_odom_tf"           default="true"/>
  <arg name="allow_no_texture_points"   default="false"/>
  <arg name="emitter_enable"   		default="false"/>
 
<!-- rosparam set /camera/stereo_module/emitter_enabled false -->
<rosparam>
  /camera/stereo_module/emitter_enabled: 0
</rosparam>
 
<rosparam if="$(arg emitter_enable)">
  /camera/stereo_module/emitter_enabled: 1
</rosparam>
 
  <group ns="$(arg camera)">
    <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
      <arg name="tf_prefix"                value="$(arg tf_prefix)"/>
      <arg name="external_manager"         value="$(arg external_manager)"/>
      <arg name="manager"                  value="$(arg manager)"/>
      <arg name="serial_no"                value="$(arg serial_no)"/>
      <arg name="usb_port_id"              value="$(arg usb_port_id)"/>
      <arg name="device_type"              value="$(arg device_type)"/>
      <arg name="json_file_path"           value="$(arg json_file_path)"/>
 
      <arg name="enable_pointcloud"        value="$(arg enable_pointcloud)"/>
      <arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/>
      <arg name="pointcloud_texture_index"  value="$(arg pointcloud_texture_index)"/>
      <arg name="enable_sync"              value="$(arg enable_sync)"/>
      <arg name="align_depth"              value="$(arg align_depth)"/>
 
      <arg name="fisheye_width"            value="$(arg fisheye_width)"/>
      <arg name="fisheye_height"           value="$(arg fisheye_height)"/>
      <arg name="enable_fisheye"           value="$(arg enable_fisheye)"/>
 
      <arg name="depth_width"              value="$(arg depth_width)"/>
      <arg name="depth_height"             value="$(arg depth_height)"/>
      <arg name="enable_depth"             value="$(arg enable_depth)"/>
 
      <arg name="color_width"              value="$(arg color_width)"/>
      <arg name="color_height"             value="$(arg color_height)"/>
      <arg name="enable_color"             value="$(arg enable_color)"/>
 
      <arg name="infra_width"              value="$(arg infra_width)"/>
      <arg name="infra_height"             value="$(arg infra_height)"/>
      <arg name="enable_infra1"            value="$(arg enable_infra1)"/>
      <arg name="enable_infra2"            value="$(arg enable_infra2)"/>
 
      <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
      <arg name="depth_fps"                value="$(arg depth_fps)"/>
      <arg name="infra_fps"                value="$(arg infra_fps)"/>
      <arg name="color_fps"                value="$(arg color_fps)"/>
      <arg name="gyro_fps"                 value="$(arg gyro_fps)"/>
      <arg name="accel_fps"                value="$(arg accel_fps)"/>
      <arg name="enable_gyro"              value="$(arg enable_gyro)"/>
      <arg name="enable_accel"             value="$(arg enable_accel)"/>
 
      <arg name="publish_tf"               value="$(arg publish_tf)"/>
      <arg name="tf_publish_rate"          value="$(arg tf_publish_rate)"/>
 
      <arg name="filters"                  value="$(arg filters)"/>
      <arg name="clip_distance"            value="$(arg clip_distance)"/>
      <arg name="linear_accel_cov"         value="$(arg linear_accel_cov)"/>
      <arg name="initial_reset"            value="$(arg initial_reset)"/>
      <arg name="unite_imu_method"         value="$(arg unite_imu_method)"/>
      <arg name="topic_odom_in"            value="$(arg topic_odom_in)"/>
      <arg name="calib_odom_file"          value="$(arg calib_odom_file)"/>
      <arg name="publish_odom_tf"          value="$(arg publish_odom_tf)"/>
      <arg name="allow_no_texture_points"  value="$(arg allow_no_texture_points)"/>
    </include>
  </group>
</launch>

仿真测试参考：https://www.yuque.com/xtdrone/manual_cn/vio
实际测试参考：https://blog.csdn.net/qq_42800654/article/details/109393646

报错outofmemoryerror解决方法

数据集测试

roslaunch vins vins_rviz.launch
rosrun vins vins_node ~/catkin_ws/src/VINS_Lite_GPU/config/euroc/euroc_stereo_imu_config.yaml
rosbag play ~/Downloads/MH_01_easy.bag

d435i相机测试

roslaunch realsense2_camera rs_camera_vins.launch  initial_reset:=true 
rosrun vins vins_node ~/catkin_ws/src/VINS_Lite_GPU/config/realsense_d435i/realsense_stereo_imu_config.yaml

查看位姿

rostopic echo /vins_estimator/odometry

rosbag record /camera/imu /camera/infra1/image_rect_raw /camera/infra2/image_rect_raw

6.Zed相机配置

查看jetpack版本，我的jetpack版本为5.1.1

sudo apt-cache show nvidia-jetpack

查看cuda版本，我的cuda版本为11.4

dpkg -l | grep cuda

下载相应版本SDK

SDK：https://www.stereolabs.com/developers/release/对应版本的ZED-SDK【ZED SDK for JetPack 5.1 (L4T 35.2)4.0 (Jetson Xavier, Orin AGX/NX 16GB, CUDA 11.4)】

安装测试

#安装
chomd +x xxxx.run
./xxxx.run

#测试
./ZED_Explore

学习资料：https://www.stereolabs.com/docs/get-started-with-zed/