JetsonOrinNX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

github /ZJU-FAST-Lab/ego-planner-swarm

github /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 github /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