远程调用rviz

能够不通过远程调用RVIZ的方法

输入如下命令：

docker run -it \
--name rviz_test \
--network=host \
-e DISPLAY=unix$DISPLAY \
-v /tmp/.X11-unix:/tmp/.X11-unix \
osrf/ros:humble-desktop-full /bin/bash

设置catkin_make 的编译的进程数的时候：
catkin_make --pkg packagename -j8 #编译指定包以8线程
or
export ROS_PARALLEL_JOBS=‘-j4 -l4’
-j 其实对应的是 --jobs，表示可以同步进行的任务
-l 其实对应的是 --load-average， 表示系统加载的任务数

#就是编译指定包也可以使用多核/多线程
ROS多机通讯
catkin_make编译时卡住
多机通讯ROS很好玩
多机通讯

远程CLION报错

问题: CMake Error at /opt/ros/humble/share/rosidl_typesupport_c/cmake/get_used_typesupports.cmake:35 (message): No ‘rosidl_typesupport_c’ found

解决方案：
使用colcon build编译完成后，source ./install/setup.bash
然后在工作空间输入环境：

ros_env="AMENT_PREFIX_PATH CMAKE_PREFIX_PATH COLCON_PREFIX_PATH PKG_CONFIG_PATH PYTHONPATH LD_LIBRARY_PATH PATH ROS_DISTRO ROS_PYTHON_VERSION ROS_LOCALHOST_ONLY ROS_VERSION"
env_string=""
for e in ${ros_env}; do
    env_string+="$e=${!e};"
done
echo "$env_string"

AMENT_PREFIX_PATH=/FastLIO2_ws/install/interface:/FastLIO2_ws/install/pgo:/FastLIO2_ws/install/localizer:/FastLIO2_ws/install/hba:/FastLIO2_ws/install/fastlio2:/ws_livox/install/livox_ros_driver2:/opt/ros/humble;CMAKE_PREFIX_PATH=/FastLIO2_ws/install/pgo:/FastLIO2_ws/install/localizer:/FastLIO2_ws/install/hba:/FastLIO2_ws/install/interface:/FastLIO2_ws/install/fastlio2:/ws_livox/install/livox_ros_driver2;COLCON_PREFIX_PATH=/FastLIO2_ws/install:/ws_livox/install;PKG_CONFIG_PATH=;PYTHONPATH=/FastLIO2_ws/install/interface/local/lib/python3.10/dist-packages:/ws_livox/install/livox_ros_driver2/local/lib/python3.10/dist-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages;LD_LIBRARY_PATH=/FastLIO2_ws/install/interface/lib:/ws_livox/install/livox_ros_driver2/lib:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib;PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin;ROS_DISTRO=humble;ROS_PYTHON_VERSION=3;ROS_LOCALHOST_ONLY=0;ROS_VERSION=2;

将colcon build编译完成后的变量输入进clion /setting | debug environment 中