Local rviz call and display of remote rostopic

hypothesis
Robotic IP: 192.168.0.11 // remote computer (robot)
Local PC Of IP: 192.168.0.111 // local computer Ubuntu (host)
see IP Address method ： Reference resources 1, Reference resources 2

Local PC adopt ssh Link remote robot , Such as utilization Mobaxterm or VSCode

Input the following commands in the remote command line terminal :

export ROS_MASTER_URI=http://192.168.0.11:11311   //this ensures that we do not use localhost, but the real IP address as master node 
export ROS_IP=192.168.0.11 		//this ensures that ROS knows that we cannot use hostname directly (due to DHCP firewall issues)

then

roscore

Remote plug usb camera , Reference resources ROS call USB Binocular camera module call usb_cam, After running through, there will be the following pile topic:

Then turn on the local PC Terminal , Enter the following command :

export ROS_MASTER_URI=http://192.168.0.11:11311   //tells local computer to look for the remote here
export ROS_IP=192.168.0.111		//this ensures that ROS knows that we cannot use hostname directly (due to DHCP firewall issues)

“11311” What does it mean? I haven't cleared it yet …… Thank you for telling me in the comment area ！

then

rosrun rviz rviz 	// fires up rviz on local computer. It will attach to the master node of the remote computer

Using the above export Every time you open a terminal, you have to input it .
If you use more , For convenience , You can also modify environment variables directly ：

sudo gedit ~/.bashrc //add the two export commands at the end of the file.
source ~/.bashrc //and restart terminal

however Remember to remove the top when you don't need it export The order of ！

Reference

ROS The journey （ 6、 ... and ） Distal rviz monitor
rviz Remote desktop startup problem solved , Multi machine distributed local operation rviz
Ubuntu see IP Address
ubuntu see ip Address order （ How to be in Ubuntu Check your IP Address ）