fix：修复切换地图后随机起终点无法运行的错误

simulation/catkin_ws/src/Navigation/launch/amcl.launch

@@ -38,9 +38,9 @@
   <param name="recovery_alpha_slow" value="0.0" />
   <param name="recovery_alpha_fast" value="0.0" />
 
-  <param name="initial_pose_x" value="11.239999347384916" />
-  <param name="initial_pose_y" value="-12.840001288469653" />
-  <param name="initial_pose_a" value="1.5900000000000014" />
+  <param name="initial_pose_x" value="0.3000000292271794" />
+  <param name="initial_pose_y" value="-2.5599998941184787" />
+  <param name="initial_pose_a" value="1.4000000217589281" />
 </node>
     
 </launch>

simulation/catkin_ws/src/Navigation/map/map.yaml

@@ -1,6 +1,6 @@
 image: /home/cicv/work/pji_desktop/simulation/catkin_ws/src/Navigation/map/map.pgm
 resolution: 0.05
-origin: [-9.2, -18.0442, 0.0]
+origin: [-20.8827, -17.8439, 0.0]
 negate: 0
 occupied_thresh: 0.65
 free_thresh: 0.196

simulation/catkin_ws/src/SimulationEnvs/launch/env_node.launch

@@ -13,5 +13,5 @@
     <arg name="headless" value="$(arg headless)"/>
     <arg name="world_name" value="$(find SimulationEnvs)/worlds/map.world"/>
   </include>
-  <node args="-param robot_description -urdf -model mycar -x 11.239999347384916 -y -12.840001288469653 -z 0.0 -R 0 -P 0 -Y 1.5900000000000014" name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"/>
+  <node args="-param robot_description -urdf -model mycar -x 0.3000000292271794 -y -2.5599998941184787 -z 0.0 -R 0 -P 0 -Y 1.4000000217589281" name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"/>
 </launch>

simulation/catkin_ws/src/SimulationEnvs/worlds/map.world

@@ -136,10 +136,10 @@
       <heading_deg>0</heading_deg>
     </spherical_coordinates>
     <state world_name='default'>
-      <sim_time>18 515000000</sim_time>
-      <real_time>18 543064510</real_time>
-      <wall_time>1727251276 38068689</wall_time>
-      <iterations>18515</iterations>
+      <sim_time>14 323000000</sim_time>
+      <real_time>14 348093159</real_time>
+      <wall_time>1727244921 531271913</wall_time>
+      <iterations>14323</iterations>
       <model name='ground_plane'>
         <pose>0 0 0 0 -0 0</pose>
         <scale>1 1 1</scale>
@@ -166,7 +166,7 @@
     </state>
     <gui fullscreen='0'>
       <camera name='user_camera'>
-        <pose>50.2078 -29.6133 13.3712 0 0.275643 2.35619</pose>
+        <pose>46.7075 -31.5402 10.1827 0 0.275643 2.35619</pose>
         <view_controller>orbit</view_controller>
         <projection_type>perspective</projection_type>
       </camera>

simulation/data/evaluation/1/result/EgoState_pji.csv

@@ -1,3524 +1,3470 @@
 Time,simTime,simFrame,posX,posY,posZ,speedX,speedY,speedZ,accelX,accelY,accelZ,dimX,dimY,dimZ,obstacle,traveledDist
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simulation/data/evaluation/1/result/log.txt

@@ -1,3 +1,3 @@
-[2024-09-25 14:04:54,148] - [INFO] [pji_run.py] [line:50] - [[case:test-1.bag] SINGLE_CASE_EVAL: Start evaluating:]
-[2024-09-25 14:04:54,468] - [INFO] [single_case_evaluate.py] [line:113] - [[case:test-1.bag] SINGLE_CASE_EVAL: Dimension evaluate start: ]
-[2024-09-25 14:04:54,877] - [INFO] [pji_run.py] [line:60] - [[case:test-1.bag] SINGLE_CASE_EVAL: End.]
+[2024-09-26 11:27:59,327] - [INFO] [pji_run.py] [line:50] - [[case:test-1.bag] SINGLE_CASE_EVAL: Start evaluating:]
+[2024-09-26 11:27:59,681] - [INFO] [single_case_evaluate.py] [line:113] - [[case:test-1.bag] SINGLE_CASE_EVAL: Dimension evaluate start: ]
+[2024-09-26 11:28:00,096] - [INFO] [pji_run.py] [line:60] - [[case:test-1.bag] SINGLE_CASE_EVAL: End.]

simulation/data/evaluation/1/result/report.json

@@ -1 +1 @@
-{"testMileage": "63.01米", "testDuration": "36.19秒", "algorithmLevel": "优秀"}
+{"testMileage": "25.92米", "testDuration": "35.61秒", "algorithmLevel": "一般"}

simulation/data/mapBuf/forbid_area.json

@@ -1,65 +0,0 @@
-{
-   "forbidArea" : [
-      {
-         "data" : [
-            {
-               "imageX" : 240,
-               "imageY" : 307,
-               "index" : 0,
-               "position" : {
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-                  "y" : -2.8792005186527945,
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-            },
-            {
-               "imageX" : 348,
-               "imageY" : 303,
-               "index" : 1,
-               "position" : {
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-                  "y" : -2.6792005156725622,
-                  "z" : 0
-               }
-            },
-            {
-               "imageX" : 351,
-               "imageY" : 472,
-               "index" : 2,
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-                  "y" : -11.129200641587374,
-                  "z" : 0
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-            },
-            {
-               "imageX" : 247,
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-                  "z" : 0
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-            }
-         ],
-         "id" : "292404a93eb64fb9b83418754932f898",
-         "name" : "禁行区"
-      }
-   ],
-   "forbidLine" : [
-      {
-         "id" : "727bd9b9076744d48c8ec7d6d2e293bb",
-         "name" : ""
-      },
-      {
-         "id" : "1ee060e742764d83a0bd1e94de799bfa",
-         "name" : ""
-      },
-      {
-         "id" : "efcf7453a8ed456f8b8af3355da1c2ad",
-         "name" : ""
-      }
-   ]
-}
-

simulation/data/mapBuf/forbid_area.yaml

@@ -1 +0,0 @@
-[[[2.825000369921327, -2.879200518652794], [8.225000450387597, -2.679200515672562], [8.375000452622771, -11.12920064158737], [3.175000375136733, -11.52920064754784]]]

simulation/data/mapBuf/forbid_area_init.json

@@ -1,6 +0,0 @@
-{
-   "forbidArea" : null,
-   "forbidLine" : null,
-   "forbidPoint" : null
-}
-

simulation/data/mapBuf/forbid_area_init.yaml

@@ -1,2 +0,0 @@
-prohibition_areas:
-  []

simulation/data/mapBuf/function_area.json

@@ -1,163 +0,0 @@
-{
-   "functionalArea" : [
-      {
-         "closeBumper" : false,
-         "closeCamera" : true,
-         "closeFall" : false,
-         "closeSonar" : false,
-         "data" : [
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-                  "z" : 0
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-         "id" : "d46aba028ae4440cb731fe2094c9b2b7",
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-         "name" : "控制区",
-         "type" : 3
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-      {
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-         "id" : "dfbf6108efbb48cdb0d6ac4319f8a13c",
-         "maxSpeed" : -1,
-         "name" : "轿厢3",
-         "type" : 6
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-      {
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-            }
-         ],
-         "id" : "5035c14dc87a46c6a08969196d3ba72d",
-         "maxSpeed" : -1,
-         "name" : "电梯3",
-         "type" : 5
-      }
-   ]
-}
-

simulation/data/mapBuf/function_area_init.json

@@ -1 +0,0 @@
-null

simulation/data/mapBuf/function_links.json

@@ -1,2 +0,0 @@
-null
-

simulation/data/mapBuf/map.json

@@ -1,11 +0,0 @@
-{
-   "map" : {
-      "buildId" : "7b4e8d01c08f472fabf7ccff2b2443a6",
-      "buildName" : "D2",
-      "floor" : 3,
-      "floorId" : "695abbcfdf99471b9db9b1d0818164e7",
-      "mapId" : "f68f8b4870e44dff8067f98d4054629a",
-      "mapName" : "朴津3楼"
-   }
-}
-

simulation/data/mapBuf/map.yaml

@@ -1,6 +0,0 @@
-image: /root/pjirobot/data//mapBuf/map.pgm
-resolution: 0.05
-origin: [-9.2, -18.0442, 0.0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.196

simulation/data/mapBuf/map_type.json

@@ -1,4 +0,0 @@
-{
-   "type" : 0
-}
-

simulation/data/mapBuf/param.yaml

@@ -1,2 +0,0 @@
-name:
-  - [1, 4, 9, 16]

simulation/data/mapBuf/stations.json

@@ -1,789 +0,0 @@
-{
-   "stations" : [
-      {
-         "attitude" : {
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-            "y" : 0,
-            "z" : 0.02
-         },
-         "chargeAtt" : {
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-         "name" : "语音实验室",
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simulation/data/mapBuf/stations_init.json

@@ -1,3 +0,0 @@
-{
-   "stations": null
-}

simulation/data/pjirobot/data/buf/buf.json

@@ -1,13 +0,0 @@
-{
-   "attitude" : {
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simulation/data/pjirobot/data/config/base_info.json

@@ -1,13 +0,0 @@
-{
-    "address": "dadada",
-    "amrName": "aaaa",
-    "countyAreaCode": "110115",
-    "customName": "aaaa",
-    "id": "P1YNYD1M21C000111",
-    "managerName": "郭点对点",
-    "managerPhoneNo": "17610172629",
-    "municipalAreaCode": "110100",
-    "provincialAreaCode": "110000",
-    "sn": "P1YNYD1M21C000111",
-    "robotType": 0
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simulation/data/pjirobot/data/config/diagnostics_config.json

@@ -1,123 +0,0 @@
-{
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-            "warningIntervalTime": 3000,
-            "errorIntervalTime": 5000
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-            "warningIntervalTime": 3000,
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-            "errorIntervalTime": 5000
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-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 1000,
-            "errorIntervalTime": 2000
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-        {
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-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 3000,
-            "errorIntervalTime": 5000
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-        {
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-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 5000,
-            "errorIntervalTime": 10000
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-        {
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-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 1000,
-            "errorIntervalTime": 2000
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-        {
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-            "diagnosticIntervalTime": 10000,
-            "warningIntervalTime": 20000,
-            "errorIntervalTime": 30000
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-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 1000,
-            "errorIntervalTime": 2000
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-        {
-            "name": "locate",
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-            "diagnosticIntervalTime": 500,
-            "warningIntervalTime": 500,
-            "errorIntervalTime": 1000
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-        {
-            "name": "electricDrive",
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-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 5000,
-            "errorIntervalTime": 10000
-        },
-        {
-            "name": "infrared",
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-            "diagnosticIntervalTime": 500,
-            "warningIntervalTime": 500,
-            "errorIntervalTime": 1000
-        },
-        {
-            "name": "camera",
-            "isOpen": true,
-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 3000,
-            "errorIntervalTime": 5000
-        },
-        {
-            "name": "navigation",
-            "isOpen": true,
-            "diagnosticIntervalTime": 3000,
-            "warningIntervalTime": 6000,
-            "errorIntervalTime": 12000
-        },
-        {
-            "name": "system",
-            "isOpen": true,
-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 15000,
-            "errorIntervalTime": 30000
-        },
-	{
-            "name": "autoDock",
-            "isOpen": true,
-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 6000,
-            "errorIntervalTime": 12000
-        }
-    ]
-}

simulation/data/pjirobot/data/config/diagnostics_config_bak.json

@@ -1,70 +0,0 @@
-{
-    "diagnostic": [
-        {
-            "name": "laserLadar",
-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 1000,
-            "errorIntervalTime": 2000
-        },
-        {
-            "name": "imu",
-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 1000,
-            "errorIntervalTime": 2000
-        },
-        {
-            "name": "odom",
-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 1000,
-            "errorIntervalTime": 2000
-        },
-        {
-            "name": "motor",
-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 1000,
-            "errorIntervalTime": 2000
-        },
-        {
-            "name": "preventFall",
-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 1000,
-            "errorIntervalTime": 2000
-        },
-        {
-            "name": "sonar",
-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 1000,
-            "errorIntervalTime": 2000
-        },
-        {
-            "name": "batter",
-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 1000,
-            "errorIntervalTime": 2000
-        },
-        {
-            "name": "cloud",
-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 1000,
-            "errorIntervalTime": 2000
-        },
-        {
-            "name": "geteway",
-            "diagnosticIntervalTime": 10000,
-            "warningIntervalTime": 20000,
-            "errorIntervalTime": 30000
-        },
-        {
-            "name": "mcu",
-            "diagnosticIntervalTime": 1000,
-            "warningIntervalTime": 1000,
-            "errorIntervalTime": 2000
-        },
-        {
-            "name": "locate",
-            "diagnosticIntervalTime": 500,
-            "warningIntervalTime": 500,
-            "errorIntervalTime": 1000
-        }
-    ]
-}

simulation/data/pjirobot/data/config/dynamic_config/move_base_GlobalPlanner.yaml

@@ -1,27 +0,0 @@
-!!python/object/new:dynamic_reconfigure.encoding.Config
-dictitems:
-  cost_factor: 3.0
-  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
-    dictitems:
-      cost_factor: 3.0
-      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
-        state: []
-      id: 0
-      lethal_cost: 255
-      name: Default
-      neutral_cost: 50
-      orientation_mode: 1
-      orientation_window_size: 1
-      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
-        state: []
-      parent: 0
-      publish_potential: true
-      state: true
-      type: ''
-    state: []
-  lethal_cost: 255
-  neutral_cost: 50
-  orientation_mode: 1
-  orientation_window_size: 1
-  publish_potential: true
-state: []

simulation/data/pjirobot/data/config/static_config.json

@@ -1,22 +0,0 @@
-{
-   "modeTypes" : null,
-   "netConfig" : {
-      "mqttIp" : "premqtt.chinapji.com",
-      "mqttPort" : 1883,
-      "passward" : "1611565853247709185",
-      "userName" : "1611565853247709184",
-      "websocketPort" : 9002
-   },
-   "pathPlanDuring" : 100,
-   "topic" : {
-      "c2r" : "/pji/cloud/robots/${TYPE}/${SN}/c2r/json",
-      "c2rOTA" : "/pji/cloud/robots/${TYPE}/${SN}/c2r/ota/json",
-      "c2rRegister" : "/pji/cloud/robots/${TYPE}/${SN}/c2r/register/json",
-      "e2r" : "/pji/elevator/robots/${SN}/e2r/json",
-      "r2c" : "/pji/cloud/robots/${TYPE}/${SN}/r2c/json",
-      "r2cOTA" : "/pji/cloud/robots/${TYPE}/${SN}/r2c/json",
-      "r2cRequest" : "/pji/cloud/robots/${TYPE}/${SN}/r2c/json",
-      "r2e" : "/pji/elevator/robots/${SN}/r2e/json"
-   }
-}
-

simulation/data/pjirobot/data/config/user_config.json

@@ -1,48 +0,0 @@
-{
-   "eventParam" : {
-      "chargeTimeout" : 180000
-   },
-   "initConfig" : {
-      "initMapId" : "f68f8b4870e44dff8067f98d4054629a",
-      "initMapStationId" : "1bd0f21c57594edbb2280ece4059302e"
-   },
-   "navParam" : {
-      "maxNavSpeed" : 0.69999999999999996
-   },
-   "realDataFrequency" : {
-      "combineData2Cloud" : 30000,
-      "combineData2CloudFirst" : 1000,
-      "diagnostic" : 1000,
-      "diagnosticFirst" : 1000,
-      "disinfection" : 1000,
-      "disinfectionFirst" : 1000,
-      "electrification" : 1000,
-      "electrificationFirst" : 1000,
-      "globalPath2CloudFirst" : 1000,
-      "globalPlanningPath" : 200,
-      "globalPlanningPathFirst" : 300,
-      "laserData" : 1000,
-      "laserDataFirst" : 300,
-      "localPlanningPath" : 1000,
-      "localPlanningPathFirst" : 300,
-      "mapData" : 1000,
-      "mapDataFirst" : 600,
-      "netInfo" : 10000,
-      "netInfoFirst" : 1000,
-      "realMapInfo" : 1000,
-      "realMapInfoFirst" : 600,
-      "realStatus2Cloud" : 1000,
-      "realStatus2CloudFirst" : 1000,
-      "realTaskInfo" : 1000,
-      "realTaskInfoFirst" : 800,
-      "robotStatus" : 100,
-      "robotStatusFirst" : 300,
-      "sensorInfo" : 1000,
-      "sensorInfoFirst" : 800,
-      "systemInfo" : 1000,
-      "systemInfoFirst" : 800,
-      "version2Cloud" : 3600000,
-      "version2CloudFirst" : 3500000
-   }
-}
-

simulation/data/pjirobot/data/config/！

@@ -1,22 +0,0 @@
-{
-   "modeTypes" : null,
-   "netConfig" : {
-      "mqttIp" : "sitmqtt.chinapji.com",
-      "mqttPort" : 1883,
-      "passward" : "Pji210608",
-      "userName" : "root",
-      "websocketPort" : 9002
-   },
-   "pathPlanDuring" : 100,
-   "topic" : {
-      "c2r" : "/pji/cloud/robots/${TYPE}/${SN}/c2r/json",
-      "c2rOTA" : "/pji/cloud/robots/${TYPE}/${SN}/c2r/ota/json",
-      "c2rRegister" : "/pji/cloud/robots/${TYPE}/${SN}/c2r/register/json",
-      "e2r" : "/pji/elevator/robots/${SN}/e2r/json",
-      "r2c" : "/pji/cloud/robots/${TYPE}/${SN}/r2c/json",
-      "r2cOTA" : "/pji/cloud/robots/${TYPE}/${SN}/r2c/json",
-      "r2cRequest" : "/pji/cloud/robots/${TYPE}/${SN}/r2c/json",
-      "r2e" : "/pji/elevator/robots/${SN}/r2e/json"
-   }
-}
-

simulation/data/pjirobot/data/current_pos.json

@@ -1 +0,0 @@
-{"mapId":"f68f8b4870e44dff8067f98d4054629a","time":1693479442,"x":2.3542600876072335,"y":-10.459998100597252,"yaw":1.58634953496516}

simulation/data/pjirobot/data/external_device/elevator_info.json

@@ -1,25 +0,0 @@
-{
-   "elevatorList" : [
-      {
-         "bindingInfo" : [
-            {
-               "elevatorFloor" : 1,
-               "functionId" : "802a36fa6c37441c9266358c4413511c",
-               "mapId" : "e6ed4dc3f80940c58a39a3da4bf069f1",
-               "station0Id" : "3d79143bea854dabb65a19726bce18b5",
-               "station1Id" : "3d79143bea854dabb65a19726bce18b5"
-            },
-            {
-               "elevatorFloor" : 3,
-               "functionId" : "5035c14dc87a46c6a08969196d3ba72d",
-               "mapId" : "f68f8b4870e44dff8067f98d4054629a",
-               "station0Id" : "c049fd65e6304dfda2cdcf9d9d95334e",
-               "station1Id" : "c049fd65e6304dfda2cdcf9d9d95334e"
-            }
-         ],
-         "elevatorId" : "P1YTTK1L234C00002",
-         "elevatorName" : "test01"
-      }
-   ]
-}
-

simulation/data/pjirobot/data/init_map_files/forbid_area.json

@@ -1,5 +0,0 @@
-{
-   "forbidArea": null,
-   "forbidLine": null,
-   "forbidPoint": null
-}

simulation/data/pjirobot/data/init_map_files/forbid_area.yaml

@@ -1,2 +0,0 @@
-prohibition_areas:
-  []

simulation/data/pjirobot/data/init_map_files/forbid_area_init.json

@@ -1,6 +0,0 @@
-{
-   "forbidArea" : null,
-   "forbidLine" : null,
-   "forbidPoint" : null
-}
-

simulation/data/pjirobot/data/init_map_files/forbid_area_init.yaml

@@ -1,2 +0,0 @@
-prohibition_areas:
-  []

simulation/data/pjirobot/data/init_map_files/function_area.json

@@ -1 +0,0 @@
-null

simulation/data/pjirobot/data/init_map_files/function_area_init.json

@@ -1 +0,0 @@
-null

simulation/data/pjirobot/data/init_map_files/function_links.json

@@ -1,2 +0,0 @@
-null
-

simulation/data/pjirobot/data/init_map_files/param.yaml

@@ -1,2 +0,0 @@
-name:
-  - [1, 4, 9, 16]

simulation/data/pjirobot/data/init_map_files/stations.json

@@ -1 +0,0 @@
-null

simulation/data/pjirobot/data/init_map_files/stations_init.json

@@ -1,3 +0,0 @@
-{
-   "stations": null
-}

simulation/data/pjirobot/data/map/04c16ff7b157d4b4702bb24aa62651a5/6364d3f0f495b6ab9dcf8d3b5c6e0b01/60877f4401c142ef93496dd5ebdc2605/forbid_area.json

@@ -1,119 +0,0 @@
-{
-   "forbidArea" : [
-      {
-         "data" : [
-            {
-               "imageX" : 147.97222585285883,
-               "imageY" : 367.90088517197296,
-               "index" : 0,
-               "position" : {
-                  "x" : -9.982589387514432,
-                  "y" : -6.087244016219997,
-                  "z" : 0
-               }
-            },
-            {
-               "imageX" : 460.59504173647673,
-               "imageY" : 263.37250974911768,
-               "index" : 1,
-               "position" : {
-                  "x" : 5.6485516395886117,
-                  "y" : -0.86082516719752689,
-                  "z" : 0
-               }
-            },
-            {
-               "imageX" : 426.75701630732652,
-               "imageY" : 150.25964912757229,
-               "index" : 2,
-               "position" : {
-                  "x" : 3.9566503429198079,
-                  "y" : 4.7948179481553899,
-                  "z" : 0
-               }
-            },
-            {
-               "imageX" : 124.23510767638949,
-               "imageY" : 236.60917596031737,
-               "index" : 3,
-               "position" : {
-                  "x" : -11.169445314023431,
-                  "y" : 0.47734154218272445,
-                  "z" : 0
-               }
-            },
-            {
-               "imageX" : 147.97222585285883,
-               "imageY" : 367.90088517197296,
-               "index" : 4,
-               "position" : {
-                  "x" : -9.982589387514432,
-                  "y" : -6.087244016219997,
-                  "z" : 0
-               }
-            }
-         ],
-         "id" : "ba5763be45cc4c9d91cb38f2e1020ba8",
-         "name" : "你"
-      }
-   ],
-   "forbidLine" : [
-      {
-         "data" : [
-            {
-               "imageX" : 132.26949582644428,
-               "imageY" : 212.06754030713387,
-               "index" : 0,
-               "position" : {
-                  "x" : -10.767725900534606,
-                  "y" : 1.7044233431268432,
-                  "z" : 0
-               }
-            },
-            {
-               "imageX" : 458.69252984158464,
-               "imageY" : 137.63152196966143,
-               "index" : 1,
-               "position" : {
-                  "x" : 5.5534260434265246,
-                  "y" : 5.4262243154596188,
-                  "z" : 0
-               }
-            },
-            {
-               "imageX" : 486.05354700509525,
-               "imageY" : 250.87602489696269,
-               "index" : 2,
-               "position" : {
-                  "x" : 6.9214769219876002,
-                  "y" : -0.23600091527917239,
-                  "z" : 0
-               }
-            },
-            {
-               "imageX" : 176.81067051019525,
-               "imageY" : 374.93605878733649,
-               "index" : 3,
-               "position" : {
-                  "x" : -8.5406671331612962,
-                  "y" : -6.4390027022297884,
-                  "z" : 0
-               }
-            },
-            {
-               "imageX" : 131.63320587352672,
-               "imageY" : 226.06401958383856,
-               "index" : 4,
-               "position" : {
-                  "x" : -10.799540398654557,
-                  "y" : 1.0045993688634205,
-                  "z" : 0
-               }
-            }
-         ],
-         "id" : "ff868ce9d5064bd7a80f5b77e249b4d6",
-         "name" : "哦"
-      }
-   ]
-}
-

simulation/data/pjirobot/data/map/04c16ff7b157d4b4702bb24aa62651a5/6364d3f0f495b6ab9dcf8d3b5c6e0b01/60877f4401c142ef93496dd5ebdc2605/forbid_area.yaml

@@ -1 +0,0 @@
-[[[-10.76772590053461, 1.704423343126843], [5.553426043426525, 5.426224315459619]], [[5.553426043426525, 5.426224315459619], [6.9214769219876, -0.2360009152791724]], [[6.9214769219876, -0.2360009152791724], [-8.540667133161296, -6.439002702229788]], [[-8.540667133161296, -6.439002702229788], [-10.79954039865456, 1.00459936886342]], [[-9.982589387514432, -6.087244016219997], [5.648551639588612, -0.8608251671975269], [3.956650342919808, 4.79481794815539], [-11.16944531402343, 0.4773415421827245], [-9.982589387514432, -6.087244016219997]]]

simulation/data/pjirobot/data/map/04c16ff7b157d4b4702bb24aa62651a5/6364d3f0f495b6ab9dcf8d3b5c6e0b01/60877f4401c142ef93496dd5ebdc2605/forbid_area_init.json

@@ -1,6 +0,0 @@
-{
-   "forbidArea" : null,
-   "forbidLine" : null,
-   "forbidPoint" : null
-}
-

simulation/data/pjirobot/data/map/04c16ff7b157d4b4702bb24aa62651a5/6364d3f0f495b6ab9dcf8d3b5c6e0b01/60877f4401c142ef93496dd5ebdc2605/forbid_area_init.yaml

@@ -1,2 +0,0 @@
-prohibition_areas:
-  []

simulation/data/pjirobot/data/map/04c16ff7b157d4b4702bb24aa62651a5/6364d3f0f495b6ab9dcf8d3b5c6e0b01/60877f4401c142ef93496dd5ebdc2605/function_area.json

@@ -1 +0,0 @@
-null

simulation/data/pjirobot/data/map/04c16ff7b157d4b4702bb24aa62651a5/6364d3f0f495b6ab9dcf8d3b5c6e0b01/60877f4401c142ef93496dd5ebdc2605/function_area_init.json

@@ -1 +0,0 @@
-null

simulation/data/pjirobot/data/map/04c16ff7b157d4b4702bb24aa62651a5/6364d3f0f495b6ab9dcf8d3b5c6e0b01/60877f4401c142ef93496dd5ebdc2605/function_links.json

@@ -1,2 +0,0 @@
-null
-

simulation/data/pjirobot/data/map/04c16ff7b157d4b4702bb24aa62651a5/6364d3f0f495b6ab9dcf8d3b5c6e0b01/60877f4401c142ef93496dd5ebdc2605/map.json

@@ -1,11 +0,0 @@
-{
-   "map" : {
-      "buildId" : "04c16ff7b157d4b4702bb24aa62651a5",
-      "buildName" : "啊",
-      "floor" : 32,
-      "floorId" : "6364d3f0f495b6ab9dcf8d3b5c6e0b01",
-      "mapId" : "60877f4401c142ef93496dd5ebdc2605",
-      "mapName" : "啊"
-   }
-}
-

simulation/data/pjirobot/data/map/04c16ff7b157d4b4702bb24aa62651a5/6364d3f0f495b6ab9dcf8d3b5c6e0b01/60877f4401c142ef93496dd5ebdc2605/map.yaml

@@ -1,6 +0,0 @@
-image: /root/pjirobot/data//mapBuf/map.pgm
-resolution: 0.05
-origin: [-17.3812, -15.4922, 0.0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.196

simulation/data/pjirobot/data/map/04c16ff7b157d4b4702bb24aa62651a5/6364d3f0f495b6ab9dcf8d3b5c6e0b01/60877f4401c142ef93496dd5ebdc2605/map_type.json

@@ -1,4 +0,0 @@
-{
-   "type" : 0
-}
-

simulation/data/pjirobot/data/map/04c16ff7b157d4b4702bb24aa62651a5/6364d3f0f495b6ab9dcf8d3b5c6e0b01/60877f4401c142ef93496dd5ebdc2605/param.yaml

@@ -1,2 +0,0 @@
-name:
-  - [1, 4, 9, 16]

simulation/data/pjirobot/data/map/04c16ff7b157d4b4702bb24aa62651a5/6364d3f0f495b6ab9dcf8d3b5c6e0b01/60877f4401c142ef93496dd5ebdc2605/stations.json

@@ -1,4 +0,0 @@
-{
-   "stations" : null
-}
-

simulation/data/pjirobot/data/map/04c16ff7b157d4b4702bb24aa62651a5/6364d3f0f495b6ab9dcf8d3b5c6e0b01/60877f4401c142ef93496dd5ebdc2605/stations_init.json

@@ -1,3 +0,0 @@
-{
-   "stations": null
-}

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/57b5c12708c84b1f89f5a0f47b2a2d2f/forbid_area.json

@@ -1,5 +0,0 @@
-{
-   "forbidArea": null,
-   "forbidLine": null,
-   "forbidPoint": null
-}

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/57b5c12708c84b1f89f5a0f47b2a2d2f/forbid_area.yaml

@@ -1 +0,0 @@
-[]

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/57b5c12708c84b1f89f5a0f47b2a2d2f/forbid_area_init.json

@@ -1,6 +0,0 @@
-{
-   "forbidArea" : null,
-   "forbidLine" : null,
-   "forbidPoint" : null
-}
-

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/57b5c12708c84b1f89f5a0f47b2a2d2f/forbid_area_init.yaml

@@ -1,2 +0,0 @@
-prohibition_areas:
-  []

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/57b5c12708c84b1f89f5a0f47b2a2d2f/function_area.json

@@ -1 +0,0 @@
-null

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/57b5c12708c84b1f89f5a0f47b2a2d2f/function_area_init.json

@@ -1 +0,0 @@
-null

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/57b5c12708c84b1f89f5a0f47b2a2d2f/function_links.json

@@ -1,2 +0,0 @@
-null
-

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/57b5c12708c84b1f89f5a0f47b2a2d2f/map.json

@@ -1,11 +0,0 @@
-{
-   "map" : {
-      "buildId" : "7b4e8d01c08f472fabf7ccff2b2443a6",
-      "buildName" : "D2",
-      "floor" : 1,
-      "floorId" : "498a7c05bb5140dab26f7803829ba49c",
-      "mapId" : "57b5c12708c84b1f89f5a0f47b2a2d2f",
-      "mapName" : "结束"
-   }
-}
-

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/57b5c12708c84b1f89f5a0f47b2a2d2f/map.yaml

@@ -1,6 +0,0 @@
-image: /root/pjirobot/data//mapBuf/map.pgm
-resolution: 0.05
-origin: [-4.55997, -5.93847, 0.0]
-negate: 0
-occupied_thresh: 0.65
-free_thresh: 0.196

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/57b5c12708c84b1f89f5a0f47b2a2d2f/map_type.json

@@ -1,4 +0,0 @@
-{
-   "type" : 0
-}
-

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/57b5c12708c84b1f89f5a0f47b2a2d2f/param.yaml

@@ -1,2 +0,0 @@
-name:
-  - [1, 4, 9, 16]

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/57b5c12708c84b1f89f5a0f47b2a2d2f/stations.json

@@ -1,4 +0,0 @@
-{
-   "stations" : null
-}
-

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/57b5c12708c84b1f89f5a0f47b2a2d2f/stations_init.json

@@ -1,3 +0,0 @@
-{
-   "stations": null
-}

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/e6ed4dc3f80940c58a39a3da4bf069f1/forbid_area.json

@@ -1,5 +0,0 @@
-{
-   "forbidArea" : null,
-   "forbidLine" : null
-}
-

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/e6ed4dc3f80940c58a39a3da4bf069f1/forbid_area.yaml

@@ -1 +0,0 @@
-[]

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/e6ed4dc3f80940c58a39a3da4bf069f1/forbid_area_init.json

@@ -1,6 +0,0 @@
-{
-   "forbidArea" : null,
-   "forbidLine" : null,
-   "forbidPoint" : null
-}
-

simulation/data/pjirobot/data/map/7b4e8d01c08f472fabf7ccff2b2443a6/498a7c05bb5140dab26f7803829ba49c/e6ed4dc3f80940c58a39a3da4bf069f1/forbid_area_init.yaml

@@ -1,2 +0,0 @@
-prohibition_areas:
-  []