Dynamic-VINS multiple devices running procedure

For example, Intel NUC as the master device and HUAWEI Atlas200DK as the edge device.

first, find devices IP respectively.
```
sudo apt install net-tools
ifconfig
```
take the master device (Intel NUC) IP as 192.168.2.223 and the edge device (HUAWEI Atlas200DK) IP as 192.168.2.2.

# run vins on the master device (Intel NUC)
export ROS_HOSTNAME=192.168.2.223
export ROS_MASTER_URI=http://192.168.2.223:11311
roscore

(optional) compressed color images.

This step is required as the limited bandwidth.

If your image topic with compressed image topic originally, this step is not necessary.

# run vins on the master device (Intel NUC)
export ROS_HOSTNAME=192.168.2.223
export ROS_MASTER_URI=http://192.168.2.223:11311
rosrun image_transport republish raw in:=/d400/color/image_raw compressed out:=/d400/color/image_raw

Dynamic-VINS on the edge device (HUAWEI Atlas200DK)

   # run vins on the edge device (HUAWEI Atlas200DK)
   ssh [email protected]
   export ROS_HOSTNAME=192.168.2.2
   export ROS_MASTER_URI=http://192.168.2.223:11311
   roslaunch vins_estimator openloris_vio_atlas.launch

rviz visualiztion

# run vins on the master device (Intel NUC)
export ROS_HOSTNAME=192.168.2.223     #从机IP 
export ROS_MASTER_URI=http://192.168.2.223:11311
roslaunch vins_estimator vins_rviz.launch