feat: 添加仿真数据准备脚本

simulation/catkin_map2gazebo/build/CMakeFiles/3.16.3/CMakeSystem.cmake

@@ -1,13 +1,13 @@
-set(CMAKE_HOST_SYSTEM "Linux-5.15.0-117-generic")
+set(CMAKE_HOST_SYSTEM "Linux-5.15.0-119-generic")
 set(CMAKE_HOST_SYSTEM_NAME "Linux")
-set(CMAKE_HOST_SYSTEM_VERSION "5.15.0-117-generic")
+set(CMAKE_HOST_SYSTEM_VERSION "5.15.0-119-generic")
 set(CMAKE_HOST_SYSTEM_PROCESSOR "x86_64")
 
 
 
-set(CMAKE_SYSTEM "Linux-5.15.0-117-generic")
+set(CMAKE_SYSTEM "Linux-5.15.0-119-generic")
 set(CMAKE_SYSTEM_NAME "Linux")
-set(CMAKE_SYSTEM_VERSION "5.15.0-117-generic")
+set(CMAKE_SYSTEM_VERSION "5.15.0-119-generic")
 set(CMAKE_SYSTEM_PROCESSOR "x86_64")
 
 set(CMAKE_CROSSCOMPILING "FALSE")

simulation/catkin_ws/build/CMakeFiles/3.16.3/CMakeSystem.cmake

@@ -1,13 +1,13 @@
-set(CMAKE_HOST_SYSTEM "Linux-5.15.0-117-generic")
+set(CMAKE_HOST_SYSTEM "Linux-5.15.0-119-generic")
 set(CMAKE_HOST_SYSTEM_NAME "Linux")
-set(CMAKE_HOST_SYSTEM_VERSION "5.15.0-117-generic")
+set(CMAKE_HOST_SYSTEM_VERSION "5.15.0-119-generic")
 set(CMAKE_HOST_SYSTEM_PROCESSOR "x86_64")
 
 
 
-set(CMAKE_SYSTEM "Linux-5.15.0-117-generic")
+set(CMAKE_SYSTEM "Linux-5.15.0-119-generic")
 set(CMAKE_SYSTEM_NAME "Linux")
-set(CMAKE_SYSTEM_VERSION "5.15.0-117-generic")
+set(CMAKE_SYSTEM_VERSION "5.15.0-119-generic")
 set(CMAKE_SYSTEM_PROCESSOR "x86_64")
 
 set(CMAKE_CROSSCOMPILING "FALSE")

simulation/catkin_ws/build/catkin_generated/setup_cached.sh

@@ -9,7 +9,7 @@
 # modified environment variables
 export CMAKE_PREFIX_PATH='/home/cicv/work/pji_desktop/simulation/catkin_ws/devel:/opt/ros/noetic:/opt/intel/oneapi/tbb/2021.13/env/..:/opt/intel/oneapi/mkl/2024.2/lib/cmake:/opt/intel/oneapi/ipp/2021.12/lib/cmake/ipp:/opt/intel/oneapi/dpl/2022.6/lib/cmake/oneDPL:/opt/intel/oneapi/dnnl/2024.2/lib/cmake:/opt/intel/oneapi/dal/2024.5:/opt/intel/oneapi/compiler/2024.2'
 export LD_LIBRARY_PATH='/opt/intel/oneapi/tbb/2021.13/env/../lib:/opt/ros/noetic/lib:/opt/intel/oneapi/tbb/2021.13/env/../lib/intel64/gcc4.8:/opt/intel/oneapi/mpi/2021.13/opt/mpi/libfabric/lib:/opt/intel/oneapi/mpi/2021.13/lib:/opt/intel/oneapi/mkl/2024.2/lib:/opt/intel/oneapi/ippcp/2021.12/lib/:/opt/intel/oneapi/ipp/2021.12/lib:/opt/intel/oneapi/dpl/2022.6/lib:/opt/intel/oneapi/dnnl/2024.2/lib:/opt/intel/oneapi/debugger/2024.2/opt/debugger/lib:/opt/intel/oneapi/dal/2024.5/lib:/opt/intel/oneapi/compiler/2024.2/opt/compiler/lib:/opt/intel/oneapi/compiler/2024.2/lib:/opt/intel/oneapi/ccl/2021.13/lib/'
-export PATH='/opt/ros/noetic/bin:/home/cicv/anaconda3/envs/simulation/bin:/home/cicv/anaconda3/condabin:/home/cicv/.nvm/versions/node/v21.6.2/bin:/opt/intel/oneapi/vtune/2024.2/bin64:/opt/intel/oneapi/mpi/2021.13/bin:/opt/intel/oneapi/mkl/2024.2/bin:/opt/intel/oneapi/dpcpp-ct/2024.2/bin:/opt/intel/oneapi/dev-utilities/2024.2/bin:/opt/intel/oneapi/debugger/2024.2/opt/debugger/bin:/opt/intel/oneapi/compiler/2024.2/bin:/opt/intel/oneapi/advisor/2024.2/bin64:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/go/bin:/opt/go-workspace/bin'
+export PATH='/opt/ros/noetic/bin:/home/cicv/WebstormProjects/pji-desktop/node_modules/.bin:/home/cicv/WebstormProjects/node_modules/.bin:/home/cicv/node_modules/.bin:/home/node_modules/.bin:/node_modules/.bin:/home/cicv/.nvm/versions/node/v21.6.2/lib/node_modules/npm/node_modules/@npmcli/run-script/lib/node-gyp-bin:/home/cicv/anaconda3/envs/simulation/bin:/home/cicv/anaconda3/condabin:/home/cicv/.nvm/versions/node/v21.6.2/bin:/opt/intel/oneapi/vtune/2024.2/bin64:/opt/intel/oneapi/mpi/2021.13/bin:/opt/intel/oneapi/mkl/2024.2/bin:/opt/intel/oneapi/dpcpp-ct/2024.2/bin:/opt/intel/oneapi/dev-utilities/2024.2/bin:/opt/intel/oneapi/debugger/2024.2/opt/debugger/bin:/opt/intel/oneapi/compiler/2024.2/bin:/opt/intel/oneapi/advisor/2024.2/bin64:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/go/bin:/opt/go-workspace/bin:/home/cicv/WebstormProjects/pji-desktop/node_modules/.bin'
 export PKG_CONFIG_PATH='/opt/ros/noetic/lib/pkgconfig:/opt/intel/oneapi/vtune/2024.2/include/pkgconfig/lib64:/opt/intel/oneapi/tbb/2021.13/env/../lib/pkgconfig:/opt/intel/oneapi/mpi/2021.13/lib/pkgconfig:/opt/intel/oneapi/mkl/2024.2/lib/pkgconfig:/opt/intel/oneapi/ippcp/2021.12/lib/pkgconfig:/opt/intel/oneapi/dpl/2022.6/lib/pkgconfig:/opt/intel/oneapi/dnnl/2024.2/lib/pkgconfig:/opt/intel/oneapi/dal/2024.5/lib/pkgconfig:/opt/intel/oneapi/compiler/2024.2/lib/pkgconfig:/opt/intel/oneapi/ccl/2021.13/lib/pkgconfig/:/opt/intel/oneapi/advisor/2024.2/include/pkgconfig/lib64'
 export PWD='/home/cicv/work/pji_desktop/simulation/catkin_ws/build'
 export PYTHONPATH='/opt/ros/noetic/lib/python3/dist-packages:/opt/intel/oneapi/advisor/2024.2/pythonapi'

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="2.287498034836133" />
-  <param name="initial_pose_y" value="3.0065817056185233" />
-  <param name="initial_pose_a" value="-2.9267727545069775" />
+  <param name="initial_pose_x" value="-0.38019585160205993" />
+  <param name="initial_pose_y" value="0.09886949945471948" />
+  <param name="initial_pose_a" value="0.02773388721986596" />
 </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: [-20.8827, -17.8439, 0.0]
+origin: [-34.4728, -29.1147, 0.0]
 negate: 0
 occupied_thresh: 0.65
 free_thresh: 0.196

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

@@ -11,7 +11,7 @@
     <arg name="paused" value="false"/>
     <arg name="use_sim_time" value="true"/>
     <arg name="headless" value="$(arg headless)"/>
-    <arg name="world_name" value="$(find SimulationEnvs)/worlds/lab_20240816.world"/>
+    <arg name="world_name" value="$(find SimulationEnvs)/worlds/map.world"/>
   </include>
-  <node args="-param robot_description -urdf -model mycar -x 2.287498034836133 -y 3.0065817056185233 -z 0.0 -R 0 -P 0 -Y -2.9267727545069775" name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"/>
+  <node args="-param robot_description -urdf -model mycar -x -0.38019585160205993 -y 0.09886949945471948 -z 0.0 -R 0 -P 0 -Y 0.02773388721986596" name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"/>
 </launch>

simulation/catkin_ws/src/SimulationEnvs/worlds/2_people.world

@@ -0,0 +1,779 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <actor name="walking_actor">
+      <skin>
+        <filename>moonwalk.dae</filename>
+        <scale>1.0</scale>
+      </skin>
+      <pose>0 0 0 0 0 0</pose>
+      <animation name="walking">
+        <filename>walk.dae</filename>
+      </animation>
+      <script>
+        <trajectory id="0" type="walking">
+          <!-- 定义行人的轨迹点 -->
+          <waypoint>
+            <time>0.0</time>
+            <pose>0 0 0 0 0 0</pose>
+          </waypoint>
+          <waypoint>
+            <time>1.0</time>
+            <pose>1 0 0 0 0 0</pose>
+          </waypoint>
+          <waypoint>
+            <time>2.0</time>
+            <pose>2 0 0 0 0 0</pose>
+          </waypoint>
+          <waypoint>
+            <time>3.0</time>
+            <pose>3 0 0 0 0 0</pose>
+          </waypoint>
+          <waypoint>
+            <time>4.0</time>
+            <pose>5 0 0 0 0 0</pose>
+          </waypoint>
+          <waypoint>
+            <time>7.0</time>
+            <pose>7 0 0 0 0 0</pose>
+          </waypoint>
+          <!-- 你可以根据需要继续添加更多的 waypoints -->
+        </trajectory>
+      </script>
+    </actor>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <collide_bitmask>65535</collide_bitmask>
+              <ode/>
+            </contact>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='map'>
+      <link name='link'>
+        <inertial>
+          <mass>15</mass>
+          <inertia>
+            <ixx>0</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0</iyy>
+            <iyz>0</iyz>
+            <izz>0</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://map/meshes/map.stl</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://map/meshes/map.stl</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <state world_name='default'>
+      <sim_time>292 65000000</sim_time>
+      <real_time>268 582679075</real_time>
+      <wall_time>1724209719 851567727</wall_time>
+      <iterations>265335</iterations>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='map'>
+        <pose>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='mycar'>
+        <pose>2.2279 3.2462 -1.2e-05 3e-06 0 -2.93302</pose>
+        <scale>1 1 1</scale>
+        <link name='back_wheel'>
+          <pose>2.46515 3.29642 0.007501 -0.416959 -0.62943 2.93266</pose>
+          <velocity>-3.9e-05 0.0002 0.006698 -0.025614 -0.005962 0.006021</velocity>
+          <acceleration>0.334584 -2.56698 13.4784 -2.50005 -0.793274 2.6325</acceleration>
+          <wrench>0.003346 -0.02567 0.134784 0 -0 0</wrench>
+        </link>
+        <link name='base_footprint'>
+          <pose>2.2279 3.2462 -1.2e-05 3e-06 0 -2.93302</pose>
+          <velocity>1.4e-05 5e-05 0.003758 -0.018203 -0.003864 9.6e-05</velocity>
+          <acceleration>-0.004455 -0.066883 7.77548 -1.39246 -0.468595 3.07025</acceleration>
+          <wrench>-0.023435 -0.351806 40.899 0 -0 0</wrench>
+        </link>
+        <link name='front_wheel'>
+          <pose>1.99066 3.19599 0.007501 -0.367357 -0.529104 2.98238</pose>
+          <velocity>-2.8e-05 0.000167 0.00675 -0.021281 -0.004563 0.006565</velocity>
+          <acceleration>0.341849 -2.50879 13.5786 1.00522 1.20571 2.92131</acceleration>
+          <wrench>0.003418 -0.025088 0.135786 0 -0 0</wrench>
+        </link>
+        <link name='left_wheel'>
+          <pose>2.27967 3.00162 0.032502 0.000188 0.252131 -2.93301</pose>
+          <velocity>-0.000166 0.001187 0.010191 -0.038584 -0.011802 -0.021289</velocity>
+          <acceleration>0.103113 -0.505907 23.0083 0.142703 -1.0837 1.86287</acceleration>
+          <wrench>0.005156 -0.025295 1.15041 0 -0 0</wrench>
+        </link>
+        <link name='right_wheel'>
+          <pose>2.17614 3.49078 0.032502 0.000528 0.182448 -2.93297</pose>
+          <velocity>4.8e-05 -0.000178 0.001181 0.009217 0.001243 0.004341</velocity>
+          <acceleration>0.325626 -1.44326 1.84527 -0.847185 1.3061 -1.75118</acceleration>
+          <wrench>0.016281 -0.072163 0.092264 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose>0 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>5 -5 2 0 0.275643 2.35619</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+    <model name='mycar'>
+      <link name='base_footprint'>
+        <inertial>
+          <pose>0 0 0.061587 0 -0 0</pose>
+          <mass>5.26</mass>
+          <inertia>
+            <ixx>0.0856892</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.0856892</iyy>
+            <iyz>0</iyz>
+            <izz>0.156323</izz>
+          </inertia>
+        </inertial>
+        <collision name='base_footprint_fixed_joint_lump__base_link_collision'>
+          <pose>0 0 0.055 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.08</length>
+              <radius>0.25</radius>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <friction>
+              <ode/>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <collision name='base_footprint_fixed_joint_lump__imu_collision_1'>
+          <pose>0 0 0.145 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.01 0.01 0.01</size>
+            </box>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <friction>
+              <ode/>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <collision name='base_footprint_fixed_joint_lump__support_collision_2'>
+          <pose>0 0 0.145 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.1</length>
+              <radius>0.01</radius>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <friction>
+              <ode/>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <collision name='base_footprint_fixed_joint_lump__laser_collision_3'>
+          <pose>0 0 0.22 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.05</length>
+              <radius>0.03</radius>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <friction>
+              <ode/>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='base_footprint_visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.001</radius>
+            </sphere>
+          </geometry>
+        </visual>
+        <visual name='base_footprint_fixed_joint_lump__base_link_visual_1'>
+          <pose>0 0 0.055 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.08</length>
+              <radius>0.25</radius>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Yellow</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <visual name='base_footprint_fixed_joint_lump__imu_visual_2'>
+          <pose>0 0 0.145 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.01 0.01 0.01</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Red</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <visual name='base_footprint_fixed_joint_lump__support_visual_3'>
+          <pose>0 0 0.145 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.1</length>
+              <radius>0.01</radius>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Gray</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <visual name='base_footprint_fixed_joint_lump__laser_visual_4'>
+          <pose>0 0 0.22 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.05</length>
+              <radius>0.03</radius>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Bluek</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <gravity>1</gravity>
+        <sensor name='imu_sensor' type='imu'>
+          <always_on>1</always_on>
+          <update_rate>100</update_rate>
+          <visualize>1</visualize>
+          <topic>/imu</topic>
+          <plugin name='imu_plugin' filename='libgazebo_ros_imu_sensor.so'>
+            <topicName>/imu</topicName>
+            <bodyName>imu</bodyName>
+            <updateRateHZ>100.0</updateRateHZ>
+            <gaussianNoise>0.0</gaussianNoise>
+            <xyzOffset>0 0 0</xyzOffset>
+            <rpyOffset>0 0 0</rpyOffset>
+            <frameName>imu</frameName>
+            <robotNamespace>/</robotNamespace>
+          </plugin>
+          <pose>0 0 0.145 0 -0 0</pose>
+          <imu/>
+        </sensor>
+        <sensor name='rplidar' type='ray'>
+          <visualize>1</visualize>
+          <update_rate>5.5</update_rate>
+          <ray>
+            <scan>
+              <horizontal>
+                <samples>360</samples>
+                <resolution>1</resolution>
+                <min_angle>-3</min_angle>
+                <max_angle>3</max_angle>
+              </horizontal>
+              <vertical>
+                <samples>1</samples>
+                <min_angle>0</min_angle>
+                <max_angle>0</max_angle>
+              </vertical>
+            </scan>
+            <range>
+              <min>0.1</min>
+              <max>30</max>
+              <resolution>0.01</resolution>
+            </range>
+            <noise>
+              <type>gaussian</type>
+              <mean>0</mean>
+              <stddev>0.01</stddev>
+            </noise>
+          </ray>
+          <plugin name='gazebo_rplidar' filename='libgazebo_ros_laser.so'>
+            <topicName>/scan</topicName>
+            <frameName>laser</frameName>
+            <robotNamespace>/</robotNamespace>
+          </plugin>
+          <pose>0 0 0.22 0 -0 0</pose>
+        </sensor>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <joint name='back_wheel2base_link' type='revolute'>
+        <pose relative_to='base_footprint'>-0.2425 0 0.0075 0 -0 0</pose>
+        <parent>base_footprint</parent>
+        <child>back_wheel</child>
+        <axis>
+          <xyz>1 1 1</xyz>
+          <limit>
+            <lower>-1e+16</lower>
+            <upper>1e+16</upper>
+          </limit>
+          <dynamics>
+            <spring_reference>0</spring_reference>
+            <spring_stiffness>0</spring_stiffness>
+          </dynamics>
+        </axis>
+      </joint>
+      <link name='back_wheel'>
+        <pose relative_to='back_wheel2base_link'>0 0 0 0 -0 0</pose>
+        <inertial>
+          <pose>0 0 0 0 -0 0</pose>
+          <mass>0.01</mass>
+          <inertia>
+            <ixx>2.25e-07</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>2.25e-07</iyy>
+            <iyz>0</iyz>
+            <izz>2.25e-07</izz>
+          </inertia>
+        </inertial>
+        <collision name='back_wheel_collision'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.0075</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <friction>
+              <ode/>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='back_wheel_visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.0075</radius>
+            </sphere>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Red</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <joint name='front_wheel2base_link' type='revolute'>
+        <pose relative_to='base_footprint'>0.2425 0 0.0075 0 -0 0</pose>
+        <parent>base_footprint</parent>
+        <child>front_wheel</child>
+        <axis>
+          <xyz>1 1 1</xyz>
+          <limit>
+            <lower>-1e+16</lower>
+            <upper>1e+16</upper>
+          </limit>
+          <dynamics>
+            <spring_reference>0</spring_reference>
+            <spring_stiffness>0</spring_stiffness>
+          </dynamics>
+        </axis>
+      </joint>
+      <link name='front_wheel'>
+        <pose relative_to='front_wheel2base_link'>0 0 0 0 -0 0</pose>
+        <inertial>
+          <pose>0 0 0 0 -0 0</pose>
+          <mass>0.01</mass>
+          <inertia>
+            <ixx>2.25e-07</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>2.25e-07</iyy>
+            <iyz>0</iyz>
+            <izz>2.25e-07</izz>
+          </inertia>
+        </inertial>
+        <collision name='front_wheel_collision'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.0075</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <friction>
+              <ode/>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='front_wheel_visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.0075</radius>
+            </sphere>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Red</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <joint name='left_wheel2base_link' type='revolute'>
+        <pose relative_to='base_footprint'>0 0.25 0.0325 0 -0 0</pose>
+        <parent>base_footprint</parent>
+        <child>left_wheel</child>
+        <axis>
+          <xyz>0 1 0</xyz>
+          <limit>
+            <lower>-1e+16</lower>
+            <upper>1e+16</upper>
+          </limit>
+          <dynamics>
+            <spring_reference>0</spring_reference>
+            <spring_stiffness>0</spring_stiffness>
+          </dynamics>
+        </axis>
+      </joint>
+      <link name='left_wheel'>
+        <pose relative_to='left_wheel2base_link'>0 0 0 0 -0 0</pose>
+        <inertial>
+          <pose>0 0 0 0 -0 0</pose>
+          <mass>0.05</mass>
+          <inertia>
+            <ixx>1.41406e-05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1.41406e-05</iyy>
+            <iyz>0</iyz>
+            <izz>2.64063e-05</izz>
+          </inertia>
+        </inertial>
+        <collision name='left_wheel_collision'>
+          <pose>0 0 0 1.5705 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.015</length>
+              <radius>0.0325</radius>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <friction>
+              <ode/>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='left_wheel_visual'>
+          <pose>0 0 0 1.5705 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.015</length>
+              <radius>0.0325</radius>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Red</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <joint name='right_wheel2base_link' type='revolute'>
+        <pose relative_to='base_footprint'>0 -0.25 0.0325 0 -0 0</pose>
+        <parent>base_footprint</parent>
+        <child>right_wheel</child>
+        <axis>
+          <xyz>0 1 0</xyz>
+          <limit>
+            <lower>-1e+16</lower>
+            <upper>1e+16</upper>
+          </limit>
+          <dynamics>
+            <spring_reference>0</spring_reference>
+            <spring_stiffness>0</spring_stiffness>
+          </dynamics>
+        </axis>
+      </joint>
+      <link name='right_wheel'>
+        <pose relative_to='right_wheel2base_link'>0 0 0 0 -0 0</pose>
+        <inertial>
+          <pose>0 0 0 0 -0 0</pose>
+          <mass>0.05</mass>
+          <inertia>
+            <ixx>1.41406e-05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1.41406e-05</iyy>
+            <iyz>0</iyz>
+            <izz>2.64063e-05</izz>
+          </inertia>
+        </inertial>
+        <collision name='right_wheel_collision'>
+          <pose>0 0 0 1.5705 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.015</length>
+              <radius>0.0325</radius>
+            </cylinder>
+          </geometry>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <friction>
+              <ode/>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='right_wheel_visual'>
+          <pose>0 0 0 1.5705 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <length>0.015</length>
+              <radius>0.0325</radius>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <name>Gazebo/Red</name>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>0</static>
+      <plugin name='differential_drive_controller' filename='libgazebo_ros_diff_drive.so'>
+        <rosDebugLevel>Debug</rosDebugLevel>
+        <publishWheelTF>1</publishWheelTF>
+        <robotNamespace>/</robotNamespace>
+        <publishTf>1</publishTf>
+        <publishWheelJointState>1</publishWheelJointState>
+        <alwaysOn>1</alwaysOn>
+        <updateRate>100.0</updateRate>
+        <legacyMode>1</legacyMode>
+        <leftJoint>left_wheel2base_link</leftJoint>
+        <rightJoint>right_wheel2base_link</rightJoint>
+        <wheelSeparation>0.5</wheelSeparation>
+        <wheelDiameter>0.065</wheelDiameter>
+        <broadcastTF>1</broadcastTF>
+        <wheelTorque>30</wheelTorque>
+        <wheelAcceleration>1.8</wheelAcceleration>
+        <commandTopic>/cmd_vel</commandTopic>
+        <odometryFrame>odom</odometryFrame>
+        <odometryTopic>/odom</odometryTopic>
+        <robotBaseFrame>base_footprint</robotBaseFrame>
+      </plugin>
+      <pose>2.2875 3.00658 0 0 0 -2.92677</pose>
+    </model>
+  </world>
+</sdf>

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

@@ -0,0 +1,175 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <collide_bitmask>65535</collide_bitmask>
+              <ode/>
+            </contact>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+      <spot>
+        <inner_angle>0</inner_angle>
+        <outer_angle>0</outer_angle>
+        <falloff>0</falloff>
+      </spot>
+    </light>
+    <model name='map'>
+      <link name='link'>
+        <inertial>
+          <mass>15</mass>
+          <inertia>
+            <ixx>0</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0</iyy>
+            <iyz>0</iyz>
+            <izz>0</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://map/meshes/map.stl</uri>
+            </mesh>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <pose>0 0 0 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <uri>model://map/meshes/map.stl</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <state world_name='default'>
+      <sim_time>18 997000000</sim_time>
+      <real_time>19 88355870</real_time>
+      <wall_time>1724745727 413357091</wall_time>
+      <iterations>18997</iterations>
+      <model name='ground_plane'>
+        <pose>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='map'>
+        <pose>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
+          <pose>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose>0 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>76.6576 -52.1943 21.5156 0 0.275643 2.35619</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>

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

@@ -0,0 +1,13 @@
+{
+   "attitude" : {
+      "x" : 0,
+      "y" : -0,
+      "z" : 0.42355924338733952
+   },
+   "position" : {
+      "x" : 0.5579254990375685,
+      "y" : 0.025661823534708389,
+      "z" : 0
+   }
+}
+

simulation/data/pjirobot/data/data/bufTest/1557339704196853760/map.zip

@@ -0,0 +1 @@
+{"msg":"Handler dispatch failed; nested exception is java.lang.OutOfMemoryError: Java heap space","code":500}

simulation/data/pjirobot/data/data/bufTest/1b3ca03768314d929de867296639d59b/map.zip

@@ -0,0 +1 @@
+{"msg":"Handler dispatch failed; nested exception is java.lang.OutOfMemoryError: Java heap space","code":500}

simulation/data/pjirobot/data/data/config/base_info.json

@@ -0,0 +1,13 @@
+{
+    "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
+}

simulation/data/pjirobot/data/data/config/diagnostics_config.json

@@ -0,0 +1,123 @@
+{
+    "diagnostic": [
+        {
+            "name": "laserLadar",
+            "isOpen": true,
+            "diagnosticIntervalTime": 1000,
+            "warningIntervalTime": 3000,
+            "errorIntervalTime": 5000
+        },
+        {
+            "name": "imu",
+            "isOpen": true,
+            "diagnosticIntervalTime": 1000,
+            "warningIntervalTime": 3000,
+            "errorIntervalTime": 5000
+        },
+        {
+            "name": "odom",
+            "isOpen": true,
+            "diagnosticIntervalTime": 1000,
+            "warningIntervalTime": 3000,
+            "errorIntervalTime": 5000
+        },
+        {
+            "name": "motor",
+            "isOpen": true,
+            "diagnosticIntervalTime": 1000,
+            "warningIntervalTime": 3000,
+            "errorIntervalTime": 5000
+        },
+        {
+            "name": "preventFall",
+            "isOpen": false,
+            "diagnosticIntervalTime": 1000,
+            "warningIntervalTime": 1000,
+            "errorIntervalTime": 2000
+        },
+        {
+            "name": "sonar",
+            "isOpen": true,
+            "diagnosticIntervalTime": 1000,
+            "warningIntervalTime": 3000,
+            "errorIntervalTime": 5000
+        },
+        {
+            "name": "batter",
+            "isOpen": true,
+            "diagnosticIntervalTime": 1000,
+            "warningIntervalTime": 5000,
+            "errorIntervalTime": 10000
+        },
+        {
+            "name": "cloud",
+            "isOpen": false,
+            "diagnosticIntervalTime": 1000,
+            "warningIntervalTime": 1000,
+            "errorIntervalTime": 2000
+        },
+        {
+            "name": "gateway",
+            "isOpen": false,
+            "diagnosticIntervalTime": 10000,
+            "warningIntervalTime": 20000,
+            "errorIntervalTime": 30000
+        },
+        {
+            "name": "mcu",
+            "isOpen": true,
+            "diagnosticIntervalTime": 1000,
+            "warningIntervalTime": 1000,
+            "errorIntervalTime": 2000
+        },
+        {
+            "name": "locate",
+            "isOpen": true,
+            "diagnosticIntervalTime": 500,
+            "warningIntervalTime": 500,
+            "errorIntervalTime": 1000
+        },
+        {
+            "name": "electricDrive",
+            "isOpen": true,
+            "diagnosticIntervalTime": 1000,
+            "warningIntervalTime": 5000,
+            "errorIntervalTime": 10000
+        },
+        {
+            "name": "infrared",
+            "isOpen": false,
+            "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": 8000,
+            "errorIntervalTime": 12000
+        },
+	{
+            "name": "autoDock",
+            "isOpen": true,
+            "diagnosticIntervalTime": 1000,
+            "warningIntervalTime": 6000,
+            "errorIntervalTime": 12000
+        }
+    ]
+}

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

@@ -0,0 +1,27 @@
+!!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/data/config/static_config.json

@@ -0,0 +1,26 @@
+{
+   "modeTypes" : null,
+   "netConfig" : {
+      "accessKey" : "VFEDSLJBfpjjwhIqYGnKCKXUvcwjgy",
+      "capem" : "-----BEGIN CERTIFICATE-----\nMIIDcTCCAlmgAwIBAgIJAMN+Bt2mf59BMA0GCSqGSIb3DQEBCwUAME8xCzAJBgNV\nBAYTAkNOMRAwDgYDVQQIDAdKaWFuZ3N1MQ8wDQYDVQQHDAZTdXpob3UxDDAKBgNV\nBAoMA1hYWDEPMA0GA1UEAwwGU2VsZkNBMB4XDTIzMDIwNzAyMTIxOVoXDTMzMDIw\nNDAyMTIxOVowTzELMAkGA1UEBhMCQ04xEDAOBgNVBAgMB0ppYW5nc3UxDzANBgNV\nBAcMBlN1emhvdTEMMAoGA1UECgwDWFhYMQ8wDQYDVQQDDAZTZWxmQ0EwggEiMA0G\nCSqGSIb3DQEBAQUAA4IBDwAwggEKAoIBAQCvVr7SwVajd41tRkiSZI8KkCX6yuNa\np1btHCDnncQhlKOoTHgiV56EYAPw/P6w+7hOPDUcpUepfG67qcVgs+9pWvLx6ECv\n94UXtCOVsST/NQe8lbMAJSwLDr9J6kfeKqUtgX2arpc5QjIwJoT19tOv9ITHn3Hr\nr1LjT+PSghFgJuTJK40aLVr2dJAeL4ne/dQp5rbC1El1hk4vYfh1Ept6hptPuwMp\n/L6ah5zsHYdC+vxrT+YaxOPZc3kD0M+Gx4PyXCz2yBq/6TsgET1/DZDzdFG4nVgn\nFiqJ9Bdr/4aXXtsF1SApdcPxIRLxmowAz/og3dEBCju+4Mx7fwKvmk9RAgMBAAGj\nUDBOMB0GA1UdDgQWBBRt9nealGx2UWeLlOSC92NEdUThtzAfBgNVHSMEGDAWgBRt\n9nealGx2UWeLlOSC92NEdUThtzAMBgNVHRMEBTADAQH/MA0GCSqGSIb3DQEBCwUA\nA4IBAQBfWHkb3+aPzbD+Hanaht18PLWl6JQmFUZ3/X6VJ80Wo3Uo5uZo7SyrmcuG\n72NeTwLnWEymqguXhgD1wK78Fx1UAsM3y/emqL69O9Fecw5IVXlSzEmFrPQbT/j0\nDEt8iRmH/X0fU/sVUiZ+NpCWLWwibko8kSy6et0wqXwlU50zzMrCcQmIHSAYPhbt\nnTK8T92VFMHokTt5KT8QPKQ4YXkbwnhoDYOjz58hHltsWWNvHVroraAGQfvU7cPf\nTAG2E9vOtBDVv6HzLQRouG212VDoxPufOKTw+GHwkkxk1KDNbJFMRhFopolltcVQ\nX7HZTyfbxiN9luP/M+8CeqeJutOk\n-----END CERTIFICATE-----\n",
+      "clientkey" : "-----BEGIN RSA PRIVATE KEY-----\nMIIEpAIBAAKCAQEA3brod3HpHWgF1koV2mJpJaEWyf8MBu5igR6ebVACEP1K5xI8\nE3xP6f7TTNdJCK08PEnn3ytmP9DveSuK78qaUzq+HbJgxyJIHiaohcsKZ3MO48n4\nT+T8Sbs9eL1ovYYS2Yz10sgVwow03i/rv9YbUzz0MKT0Akpp3uHKZHK6NrwZskML\npMbq2UbVrv9SX0QhDDsqwFzIMpmvIy50fkLriSL/1v64GhCWk1uBPq0+3edlMdKb\neievG5sj6hn+wObawJLt1nlzvNEf0otgROt/tGPvO+An6ZqbNlwWKAXYq05HIuSL\nqGisGc2c6ZoP78Ih2xdlvVzNK22D10ysRoNduwIDAQABAoIBAQDBzfQRKySqCllH\nw3u0ZV4ogNQNfPtDN6wr1dp+C3ey5+JHdJ3EHl0vVwfT2zy/88N5otOkMifuUa5v\nR8rp6znW07qG9Ho4tFM632lfgGg4oc369ncvRiPqQlnppgzd00m4k8fuE+tJIAm5\nx0MVa4x4xgdeWV/afLZrFQo1oD35RfHJfCyDMkgFK7xkKylm7grYqQ4fRLteOiBJ\nZVs8NT+h3ZzD3BvTMUPetYZmCcXdk2vWqC7oqISnLD7VkPx5j5l+7ZCRb5xfAhfO\n3sX4FuexZsWTkOsTxsRNdmmb/6rwBUdfzf/sU5Bh0/1ZHzbCSLHyw/KaGchL2rTr\nuAmdf8W5AoGBAPPIsVJY9K5eTGL0EfTfiAH9ZcP4arEVLfS3KveD+2BSqvJYKHlP\nAMKxwBusrP7szK2mAKHIvCFdmnXKMYQ4SM8goaTg9ieGnmU+Bzw2cZjHT+19fNN3\nvF+KodH6QZCIhwffNYdxyMKBiWlNMDCWg2WeKdpbN8+C19TaRGKSDgAdAoGBAOjX\nTe/7bt2+YIJz46x+SO7Ndf9VsNt68TPlo9/u3itFWq8QAn6h0RBusoKZQyyP//IR\nYcAzFmB6B22rJFB+1HAWIEHBQ7jVW0FBO6dbiCw0KkNCIO0OD82mpcepGh+VzlMG\nrx7WpTfxudpOQIQ5AN1o3Q55N2fvFXMui4h+Fh23AoGAGQbZbWLEe8IihWYZEdKA\n2/NvpxaxnUxXU3AacR6Th+f0tLxoK0v5AAPPfQfVGrakrI8GMZWx+prpaH5BZxmA\nIANxlMOjgZtIV4xuobfVIaIUioT/c5YvOH+67RuL75KUijJYBHeh7JXvzWenMtXA\n14XNNiV3LU55adiefKAR3+ECgYA0Zof+syovMzILCcO6RS1quMiObx1/N3rjABJS\nSjKrsE8JSOQW1Zn0RcVcyNsqQzoJo0nJdHXbvnq/fp2MlA6BLymRQspX5YRE+kZP\nkrThpdfBDTfVwa1izddPSMo9Q3yMiNuOaCYEohz+eU/hseZ07a2aHUOP22mLY3U5\ngY6+nwKBgQCbCOYKtwvDFE4jHPTg6aOw84PnsVu4iwDvsCzIsiwG842UdIzzQG4S\nr9W/W/FwjjBquRnn+1ERz25aI9ONPH7l3tT0nsst4c4rqlWhPR19FE7LPK/HV2nj\ncetQsri/mIvh+7vevZfl033ZQLR9psy7RzI9vduVzL4fljSqJrNuWQ==\n-----END RSA PRIVATE KEY-----\n",
+      "clientpem" : "-----BEGIN CERTIFICATE-----\nMIIDGjCCAgICCQDyK58wtoNykzANBgkqhkiG9w0BAQsFADBPMQswCQYDVQQGEwJD\nTjEQMA4GA1UECAwHSmlhbmdzdTEPMA0GA1UEBwwGU3V6aG91MQwwCgYDVQQKDANY\nWFgxDzANBgNVBAMMBlNlbGZDQTAeFw0yMzAyMDcwMjEyMjBaFw0zMzAyMDQwMjEy\nMjBaME8xCzAJBgNVBAYTAkNOMRAwDgYDVQQIDAdKaWFuZ3N1MQ8wDQYDVQQHDAZT\ndXpob3UxDDAKBgNVBAoMA1hYWDEPMA0GA1UEAwwGY2xpZW50MIIBIjANBgkqhkiG\n9w0BAQEFAAOCAQ8AMIIBCgKCAQEA3brod3HpHWgF1koV2mJpJaEWyf8MBu5igR6e\nbVACEP1K5xI8E3xP6f7TTNdJCK08PEnn3ytmP9DveSuK78qaUzq+HbJgxyJIHiao\nhcsKZ3MO48n4T+T8Sbs9eL1ovYYS2Yz10sgVwow03i/rv9YbUzz0MKT0Akpp3uHK\nZHK6NrwZskMLpMbq2UbVrv9SX0QhDDsqwFzIMpmvIy50fkLriSL/1v64GhCWk1uB\nPq0+3edlMdKbeievG5sj6hn+wObawJLt1nlzvNEf0otgROt/tGPvO+An6ZqbNlwW\nKAXYq05HIuSLqGisGc2c6ZoP78Ih2xdlvVzNK22D10ysRoNduwIDAQABMA0GCSqG\nSIb3DQEBCwUAA4IBAQCtrsf7RGG4Lo7bVyKP48l2zKcaDqaAcumvze11TyjjYBuO\nQDp8WeDXoa4rQFC1ZIXoQpnFOEBJIpYRnJmCxGUJCbnNvYnidxejhZI7icbdfi3V\nYNPGzXfwDEzM0ZmVVcMFROR1aNMBAAN5UokGZoOuUjLMCwnd94IwWC7itsMsoWhu\n3U8kVMzITcIgAyZC7CsTc3a5Fz9s/9KE6Q3SIjcnFA911nfWBvcZQ+ULykWLQCUh\nxXsLd4SmUHSlvmeFugg2YhRar0xgsC866g4yzdRVIoIHRuxbvhv1h12sSa3gafxv\nujaQLbxYHll+IdLLfedAkDjaLAryiTY3B0R3LIJ6\n-----END CERTIFICATE-----\n",
+      "mqttIp" : "mqtt.chinapji.com",
+      "mqttPort" : 1883,
+      "passward" : "1646124604225654785",
+      "userName" : "1646124604225654784",
+      "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/data/config/user_config.json

@@ -0,0 +1,48 @@
+{
+   "eventParam" : {
+      "chargeTimeout" : 180000
+   },
+   "initConfig" : {
+      "initMapId" : "5de4be96412d4827bb1092031b72642c",
+      "initMapStationId" : "b0feaf6401d54e57b6c6b9d56f4eac3a"
+   },
+   "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/data/current_pos.json

@@ -0,0 +1 @@
+{"mapId":"ef3f63ac729c44c98ac0d07567d9c514","time":1695638344,"x":0,"y":0,"yaw":0}

simulation/data/pjirobot/data/data/external_device/access_info.json

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

simulation/data/pjirobot/data/data/map/4ab3d1093a0e480394256ee69c1ceec3/c322c8f9d6ff4a51b3887155c611a617/5de4be96412d4827bb1092031b72642c/forbid_area.json

@@ -0,0 +1,354 @@
+{
+   "forbidArea" : null,
+   "forbidLine" : [
+      {
+         "data" : [
+            {
+               "imageX" : 669.46781370866086,
+               "imageY" : 124.8123223378737,
+               "index" : 0,
+               "position" : {
+                  "x" : -0.99941002427065939,
+                  "y" : 2.9446840434455552,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 674.42683455094721,
+               "imageY" : 171.1003359201315,
+               "index" : 1,
+               "position" : {
+                  "x" : -0.75145897846158505,
+                  "y" : 0.63028332984539759,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 673.60033107723279,
+               "imageY" : 124.8123223378737,
+               "index" : 2,
+               "position" : {
+                  "x" : -0.79278415276309744,
+                  "y" : 2.9446840434455552,
+                  "z" : 0
+               }
+            }
+         ],
+         "id" : "44d683af67c04c17b3819fe9e9fe382e",
+         "name" : "卫生间禁行"
+      },
+      {
+         "data" : [
+            {
+               "imageX" : 757.9036853961012,
+               "imageY" : 137.21089740454988,
+               "index" : 0,
+               "position" : {
+                  "x" : 3.4223836259912161,
+                  "y" : 2.3247552808740828,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 761.20969929095895,
+               "imageY" : 181.84576764458419,
+               "index" : 1,
+               "position" : {
+                  "x" : 3.5876843231972728,
+                  "y" : 0.093011735616798319,
+                  "z" : 0
+               }
+            }
+         ],
+         "id" : "dd03bacaf1144352ae6b6460488ab1d9",
+         "name" : "禁行1"
+      },
+      {
+         "data" : [
+            {
+               "imageX" : 518.21767801892634,
+               "imageY" : 278.55465316465853,
+               "index" : 0,
+               "position" : {
+                  "x" : -8.5619169214475193,
+                  "y" : -4.7424326124406555,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 519.04418149264075,
+               "imageY" : 292.60637157355819,
+               "index" : 1,
+               "position" : {
+                  "x" : -8.5205917471460069,
+                  "y" : -5.4450185433549834,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 666.16179981380333,
+               "imageY" : 287.64694154688772,
+               "index" : 2,
+               "position" : {
+                  "x" : -1.164710721476709,
+                  "y" : -5.1970470383263958,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 666.16179981380333,
+               "imageY" : 274.42179480909977,
+               "index" : 3,
+               "position" : {
+                  "x" : -1.164710721476709,
+                  "y" : -4.5357896915834957,
+                  "z" : 0
+               }
+            }
+         ],
+         "id" : "b47d3e14bcf244f0baefa575bd4d351e",
+         "name" : "电梯前花盆禁行"
+      },
+      {
+         "data" : [
+            {
+               "imageX" : 289.27621580003864,
+               "imageY" : 375.26353868473279,
+               "index" : 0,
+               "position" : {
+                  "x" : -20.008990202966586,
+                  "y" : -9.5778769604981022,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 348.78446590747518,
+               "imageY" : 376.91668202695632,
+               "index" : 1,
+               "position" : {
+                  "x" : -17.033577653257659,
+                  "y" : -9.6605341288409683,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 353.74348674976153,
+               "imageY" : 362.0383919469449,
+               "index" : 2,
+               "position" : {
+                  "x" : -16.785626607448581,
+                  "y" : -8.9166196137552056,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 416.55775075205565,
+               "imageY" : 362.0383919469449,
+               "index" : 3,
+               "position" : {
+                  "x" : -13.6449133605336,
+                  "y" : -8.9166196137552056,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 418.21075769948442,
+               "imageY" : 351.29296022249218,
+               "index" : 4,
+               "position" : {
+                  "x" : -13.562263011930579,
+                  "y" : -8.3793480195265992,
+                  "z" : 0
+               }
+            }
+         ],
+         "id" : "9210b8b0d85c48f3adfb1cd0eac5a492",
+         "name" : "门口休息室禁行"
+      },
+      {
+         "data" : [
+            {
+               "imageX" : 494.24907728120894,
+               "imageY" : 366.17125030250367,
+               "index" : 0,
+               "position" : {
+                  "x" : -9.7603469761913892,
+                  "y" : -9.1232625346123619,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 481.0250217017786,
+               "imageY" : 367.82439364472708,
+               "index" : 1,
+               "position" : {
+                  "x" : -10.421549765015595,
+                  "y" : -9.2059197029552209,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 489.29005643892248,
+               "imageY" : 548.01701794708788,
+               "index" : 2,
+               "position" : {
+                  "x" : -10.008298022000471,
+                  "y" : -18.215551052327228,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 554.58383086235983,
+               "imageY" : 546.36387460486435,
+               "index" : 3,
+               "position" : {
+                  "x" : -6.7436092521809492,
+                  "y" : -18.132893883984366,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 554.58383086235983,
+               "imageY" : 536.4450145515234,
+               "index" : 4,
+               "position" : {
+                  "x" : -6.7436092521809492,
+                  "y" : -17.636950873927191,
+                  "z" : 0
+               }
+            }
+         ],
+         "id" : "e361b44b15ad4654945db020a1d4b96a",
+         "name" : "进门花盆禁行"
+      },
+      {
+         "data" : [
+            {
+               "imageX" : 291.75572622118187,
+               "imageY" : 376.09011035584462,
+               "index" : 0,
+               "position" : {
+                  "x" : -19.885014680062042,
+                  "y" : -9.619205544669537,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 297.54125053718258,
+               "imageY" : 518.26043778706492,
+               "index" : 1,
+               "position" : {
+                  "x" : -19.595738459951455,
+                  "y" : -16.727722022155703,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 362.83502496061993,
+               "imageY" : 514.95415110261797,
+               "index" : 2,
+               "position" : {
+                  "x" : -16.331049690131938,
+                  "y" : -16.562407685469978,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 364.4880319080487,
+               "imageY" : 613.31617996491582,
+               "index" : 3,
+               "position" : {
+                  "x" : -16.248399341528913,
+                  "y" : -21.480509201870291,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 530.61523012464238,
+               "imageY" : 614.14275163602758,
+               "index" : 4,
+               "position" : {
+                  "x" : -7.9420393069248192,
+                  "y" : -21.521837786041726,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 876.09368213725986,
+               "imageY" : 601.74417656935134,
+               "index" : 5,
+               "position" : {
+                  "x" : 9.3318835511075591,
+                  "y" : -20.901909023470253,
+                  "z" : 0
+               }
+            }
+         ],
+         "id" : "3389319cc37746b19adc4878c403a986",
+         "name" : "门口禁行"
+      },
+      {
+         "data" : [
+            {
+               "imageX" : 552.1043204412166,
+               "imageY" : 540.57787290708211,
+               "index" : 0,
+               "position" : {
+                  "x" : -6.8675847750854899,
+                  "y" : -17.843593794784347,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 855.43109529440005,
+               "imageY" : 530.65901285374116,
+               "index" : 1,
+               "position" : {
+                  "x" : 8.2987541935697422,
+                  "y" : -17.347650784727172,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 857.08410224182887,
+               "imageY" : 600.91760489823957,
+               "index" : 2,
+               "position" : {
+                  "x" : 8.381404542172767,
+                  "y" : -20.860580439298822,
+                  "z" : 0
+               }
+            }
+         ],
+         "id" : "9313863ef4404653a47b3a850b8b1c44",
+         "name" : "禁行2"
+      },
+      {
+         "data" : [
+            {
+               "imageX" : 664.50879286637451,
+               "imageY" : 50.420871937816528,
+               "index" : 0,
+               "position" : {
+                  "x" : -1.2473610700797337,
+                  "y" : 6.6642566188743615,
+                  "z" : 0
+               }
+            },
+            {
+               "imageX" : 699.22193876237907,
+               "imageY" : 48.767728595593034,
+               "index" : 1,
+               "position" : {
+                  "x" : 0.48829625058380088,
+                  "y" : 6.746913787217224,
+                  "z" : 0
+               }
+            }
+         ],
+         "id" : "a48149799af84fd48740204adc929ac2",
+         "name" : "禁行3"
+      }
+   ]
+}
+

simulation/data/pjirobot/data/data/map/4ab3d1093a0e480394256ee69c1ceec3/c322c8f9d6ff4a51b3887155c611a617/5de4be96412d4827bb1092031b72642c/forbid_area.yaml

@@ -0,0 +1 @@
+[[[-0.9994100242706594, 2.944684043445555], [-0.751458978461585, 0.6302833298453976]], [[-0.751458978461585, 0.6302833298453976], [-0.7927841527630974, 2.944684043445555]], [[3.422383625991216, 2.324755280874083], [3.587684323197273, 0.09301173561679832]], [[-8.561916921447519, -4.742432612440656], [-8.520591747146007, -5.445018543354983]], [[-8.520591747146007, -5.445018543354983], [-1.164710721476709, -5.197047038326396]], [[-1.164710721476709, -5.197047038326396], [-1.164710721476709, -4.535789691583496]], [[-20.00899020296659, -9.577876960498102], [-17.03357765325766, -9.660534128840968]], [[-17.03357765325766, -9.660534128840968], [-16.78562660744858, -8.916619613755206]], [[-16.78562660744858, -8.916619613755206], [-13.6449133605336, -8.916619613755206]], [[-13.6449133605336, -8.916619613755206], [-13.56226301193058, -8.379348019526599]], [[-9.760346976191389, -9.123262534612362], [-10.42154976501559, -9.205919702955221]], [[-10.42154976501559, -9.205919702955221], [-10.00829802200047, -18.21555105232723]], [[-10.00829802200047, -18.21555105232723], [-6.743609252180949, -18.13289388398437]], [[-6.743609252180949, -18.13289388398437], [-6.743609252180949, -17.63695087392719]], [[-19.88501468006204, -9.619205544669537], [-19.59573845995146, -16.7277220221557]], [[-19.59573845995146, -16.7277220221557], [-16.33104969013194, -16.56240768546998]], [[-16.33104969013194, -16.56240768546998], [-16.24839934152891, -21.48050920187029]], [[-16.24839934152891, -21.48050920187029], [-7.942039306924819, -21.52183778604173]], [[-7.942039306924819, -21.52183778604173], [9.331883551107559, -20.90190902347025]], [[-6.86758477508549, -17.84359379478435], [8.298754193569742, -17.34765078472717]], [[8.298754193569742, -17.34765078472717], [8.381404542172767, -20.86058043929882]], [[-1.247361070079734, 6.664256618874361], [0.4882962505838009, 6.746913787217224]]]

simulation/data/pjirobot/data/data/map/4ab3d1093a0e480394256ee69c1ceec3/c322c8f9d6ff4a51b3887155c611a617/5de4be96412d4827bb1092031b72642c/forbid_area_init.json

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

simulation/data/pjirobot/data/data/map/4ab3d1093a0e480394256ee69c1ceec3/c322c8f9d6ff4a51b3887155c611a617/5de4be96412d4827bb1092031b72642c/forbid_area_init.yaml

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

simulation/data/pjirobot/data/data/map/4ab3d1093a0e480394256ee69c1ceec3/c322c8f9d6ff4a51b3887155c611a617/5de4be96412d4827bb1092031b72642c/function_area.json

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

simulation/data/pjirobot/data/data/map/4ab3d1093a0e480394256ee69c1ceec3/c322c8f9d6ff4a51b3887155c611a617/5de4be96412d4827bb1092031b72642c/function_area_init.json

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

simulation/data/pjirobot/data/data/map/4ab3d1093a0e480394256ee69c1ceec3/c322c8f9d6ff4a51b3887155c611a617/5de4be96412d4827bb1092031b72642c/function_links.json

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

simulation/data/pjirobot/data/data/map/4ab3d1093a0e480394256ee69c1ceec3/c322c8f9d6ff4a51b3887155c611a617/5de4be96412d4827bb1092031b72642c/map.json

@@ -0,0 +1,11 @@
+{
+   "map" : {
+      "buildId" : "4ab3d1093a0e480394256ee69c1ceec3",
+      "buildName" : "行知楼",
+      "floor" : 1,
+      "floorId" : "c322c8f9d6ff4a51b3887155c611a617",
+      "mapId" : "5de4be96412d4827bb1092031b72642c",
+      "mapName" : "行知楼右侧"
+   }
+}
+

simulation/data/pjirobot/data/data/map/4ab3d1093a0e480394256ee69c1ceec3/c322c8f9d6ff4a51b3887155c611a617/5de4be96412d4827bb1092031b72642c/map.yaml

@@ -0,0 +1,6 @@
+image: /root/pjirobot/data//mapBuf/map.pgm
+resolution: 0.05
+origin: [-34.4728, -29.1147, 0.0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196

simulation/data/pjirobot/data/data/map/4ab3d1093a0e480394256ee69c1ceec3/c322c8f9d6ff4a51b3887155c611a617/5de4be96412d4827bb1092031b72642c/map_type.json

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

simulation/data/pjirobot/data/data/map/4ab3d1093a0e480394256ee69c1ceec3/c322c8f9d6ff4a51b3887155c611a617/5de4be96412d4827bb1092031b72642c/param.yaml

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

simulation/data/pjirobot/data/data/map/4ab3d1093a0e480394256ee69c1ceec3/c322c8f9d6ff4a51b3887155c611a617/5de4be96412d4827bb1092031b72642c/stations.json

@@ -0,0 +1,229 @@
+{
+   "stations" : [
+      {
+         "attitude" : {
+            "x" : 0,
+            "y" : 0,
+            "z" : 0.050000000000000003
+         },
+         "chargeAtt" : {
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+            "y" : 2.6949346545505991e-312,
+            "z" : 0
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+         "chargePos" : {
+            "x" : 2.7050291031133721e-312,
+            "y" : 2.2691982055291217e-316,
+            "z" : 7.9589084690383507e-315
+         },
+         "id" : "b0feaf6401d54e57b6c6b9d56f4eac3a",
+         "imageX" : 680.25601403331734,
+         "imageY" : 183.306002335161,
+         "name" : "充电桩",
+         "position" : {
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+            "y" : 0.02,
+            "z" : 0
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+         "type" : 1,
+         "yaw" : 0.050000000000000003
+      },
+      {
+         "attitude" : {
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+         "chargeAtt" : {
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+            "y" : 2.6949346545505991e-312,
+            "z" : 0
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+         "chargePos" : {
+            "x" : 2.7050886199211307e-312,
+            "y" : 2.2691982055291217e-316,
+            "z" : 7.6305128365100876e-315
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+         "id" : "6240df2cf48a45558e21257dc471179c",
+         "imageX" : 361.0560187897679,
+         "imageY" : 483.10599786779289,
+         "name" : "迎宾点",
+         "position" : {
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+            "y" : -14.970000000000001,
+            "z" : 0
+         },
+         "type" : 0,
+         "yaw" : 2.5299999999999998
+      },
+      {
+         "attitude" : {
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+            "y" : 0,
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+         },
+         "chargeAtt" : {
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+            "y" : 2.7050886203756711e-312,
+            "z" : -4.825646060413927e-301
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+         "chargePos" : {
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+         "id" : "0d618e4a46354eff8068808f3a931a5d",
+         "imageX" : 539.25601613438107,
+         "imageY" : 569.90599657437201,
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+         "id" : "76bbbb61afc64ed49e41126da116d339",
+         "imageX" : 712.85601354753953,
+         "imageY" : 563.70599666675935,
+         "name" : "荣誉墙",
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+            "z" : 0
+         },
+         "type" : 0,
+         "yaw" : -0.69999999999999996
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+      {
+         "attitude" : {
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+         },
+         "chargeAtt" : {
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+            "z" : -4.825646060413927e-301
+         },
+         "chargePos" : {
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+            "z" : 2.705088652549226e-312
+         },
+         "id" : "c6b2efbeab2e41d087b657b1e9ddd2ca",
+         "imageX" : 449.25601747548558,
+         "imageY" : 117.10600332161778,
+         "name" : "103",
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+            "z" : 0
+         },
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+         "yaw" : -0.64000000000000001
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+      {
+         "attitude" : {
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+         "chargeAtt" : {
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+         },
+         "id" : "afda2e13ea604e2b8e51105544072685",
+         "imageX" : 540.05601612246016,
+         "imageY" : 110.10600342592591,
+         "name" : "105会议室",
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+      {
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+            "y" : 5.5335352334219613e-322,
+            "z" : -4.825646060413927e-301
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+            "z" : 2.705088652549226e-312
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+         "id" : "48d0b567944248feac81810c0060f3fa",
+         "imageX" : 703.45601368761049,
+         "imageY" : 231.30600161990515,
+         "name" : "106会议室",
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+            "z" : 0
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+      {
+         "attitude" : {
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+            "y" : 0,
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+         "chargeAtt" : {
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+            "y" : 5.5335352334219613e-322,
+            "z" : -4.825646060413927e-301
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+            "z" : 2.705088652549226e-312
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+         "id" : "e38a6151f70145e1963d30e5e288ff22",
+         "imageX" : 712.45601355349993,
+         "imageY" : 168.70600255271791,
+         "name" : "卫生间",
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+            "z" : 0
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+         "type" : 0,
+         "yaw" : 2.5
+      }
+   ]
+}
+

simulation/data/pjirobot/data/data/map/4ab3d1093a0e480394256ee69c1ceec3/c322c8f9d6ff4a51b3887155c611a617/5de4be96412d4827bb1092031b72642c/stations_init.json

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

simulation/data/pjirobot/data/data/map/8b49f5d6978e45b180c20640f4443a46/a11cc84de73e48caa9ff9f1d90bf1c04/ac8b30691c2e45f5a45aa727c59c5c71/forbid_area.json

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

simulation/data/pjirobot/data/data/map/8b49f5d6978e45b180c20640f4443a46/a11cc84de73e48caa9ff9f1d90bf1c04/ac8b30691c2e45f5a45aa727c59c5c71/forbid_area.yaml

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

simulation/data/pjirobot/data/data/map/8b49f5d6978e45b180c20640f4443a46/a11cc84de73e48caa9ff9f1d90bf1c04/ac8b30691c2e45f5a45aa727c59c5c71/forbid_area_init.json

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

simulation/data/pjirobot/data/data/map/8b49f5d6978e45b180c20640f4443a46/a11cc84de73e48caa9ff9f1d90bf1c04/ac8b30691c2e45f5a45aa727c59c5c71/forbid_area_init.yaml

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

simulation/data/pjirobot/data/data/map/8b49f5d6978e45b180c20640f4443a46/a11cc84de73e48caa9ff9f1d90bf1c04/ac8b30691c2e45f5a45aa727c59c5c71/function_area.json

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

simulation/data/pjirobot/data/data/map/8b49f5d6978e45b180c20640f4443a46/a11cc84de73e48caa9ff9f1d90bf1c04/ac8b30691c2e45f5a45aa727c59c5c71/function_area_init.json

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

simulation/data/pjirobot/data/data/map/8b49f5d6978e45b180c20640f4443a46/a11cc84de73e48caa9ff9f1d90bf1c04/ac8b30691c2e45f5a45aa727c59c5c71/map.json

@@ -0,0 +1,11 @@
+{
+   "map" : {
+      "buildId" : "8b49f5d6978e45b180c20640f4443a46",
+      "buildName" : "pji",
+      "floor" : 2,
+      "floorId" : "a11cc84de73e48caa9ff9f1d90bf1c04",
+      "mapId" : "ac8b30691c2e45f5a45aa727c59c5c71",
+      "mapName" : "20220411 B16二楼办公区"
+   }
+}
+

simulation/data/pjirobot/data/data/map/8b49f5d6978e45b180c20640f4443a46/a11cc84de73e48caa9ff9f1d90bf1c04/ac8b30691c2e45f5a45aa727c59c5c71/map.yaml

@@ -0,0 +1,6 @@
+image: /root/pjirobot/data//mapBuf/map.pgm
+resolution: 0.05
+origin: [-34.4971, -9.75, 0.0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196

simulation/data/pjirobot/data/data/map/8b49f5d6978e45b180c20640f4443a46/a11cc84de73e48caa9ff9f1d90bf1c04/ac8b30691c2e45f5a45aa727c59c5c71/param.yaml

@@ -0,0 +1,3 @@
+name:
+  - [[1, 4, 9, 16], [1, 4, 9, 16], [1, 4, 9, 16], [1, 4, 9, 16]]
+  - [1, 4, 9, 16]

simulation/data/pjirobot/data/data/map/8b49f5d6978e45b180c20640f4443a46/a11cc84de73e48caa9ff9f1d90bf1c04/ac8b30691c2e45f5a45aa727c59c5c71/stations.json

@@ -0,0 +1,257 @@
+{
+   "stations" : [
+      {
+         "attitude" : {
+            "x" : 0,
+            "y" : 0,
+            "z" : 2.4841316880724786
+         },
+         "chargeAtt" : {
+            "x" : 2.7099954084364349e-312,
+            "y" : 2.7057102798579347e-312,
+            "z" : 2.7099948373953615e-312
+         },
+         "chargePos" : {
+            "x" : 2.6949346545505991e-312,
+            "y" : 0,
+            "z" : 2.6949346545308365e-312
+         },
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+}
+

simulation/data/pjirobot/data/data/map/8b49f5d6978e45b180c20640f4443a46/a11cc84de73e48caa9ff9f1d90bf1c04/ac8b30691c2e45f5a45aa727c59c5c71/stations_init.json

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

simulation/data/pjirobot/data/data/map/91428339c0494a6a8f12722e8caf8d71/591ea605d8964d53a3e1f49fccd84fc2/0d6cc0319fc245a7b7bc2909804f9d54/forbid_area.json

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

simulation/data/pjirobot/data/data/map/91428339c0494a6a8f12722e8caf8d71/591ea605d8964d53a3e1f49fccd84fc2/0d6cc0319fc245a7b7bc2909804f9d54/forbid_area.yaml

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

simulation/data/pjirobot/data/data/map/91428339c0494a6a8f12722e8caf8d71/591ea605d8964d53a3e1f49fccd84fc2/0d6cc0319fc245a7b7bc2909804f9d54/forbid_area_init.json

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

simulation/data/pjirobot/data/data/map/91428339c0494a6a8f12722e8caf8d71/591ea605d8964d53a3e1f49fccd84fc2/0d6cc0319fc245a7b7bc2909804f9d54/forbid_area_init.yaml

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

simulation/data/pjirobot/data/data/map/91428339c0494a6a8f12722e8caf8d71/591ea605d8964d53a3e1f49fccd84fc2/0d6cc0319fc245a7b7bc2909804f9d54/function_area.json

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

simulation/data/pjirobot/data/data/map/91428339c0494a6a8f12722e8caf8d71/591ea605d8964d53a3e1f49fccd84fc2/0d6cc0319fc245a7b7bc2909804f9d54/function_area_init.json

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

simulation/data/pjirobot/data/data/map/91428339c0494a6a8f12722e8caf8d71/591ea605d8964d53a3e1f49fccd84fc2/0d6cc0319fc245a7b7bc2909804f9d54/map.json

@@ -0,0 +1,11 @@
+{
+   "map" : {
+      "buildId" : "91428339c0494a6a8f12722e8caf8d71",
+      "buildName" : "1",
+      "floor" : 1,
+      "floorId" : "591ea605d8964d53a3e1f49fccd84fc2",
+      "mapId" : "0d6cc0319fc245a7b7bc2909804f9d54",
+      "mapName" : "充电测试"
+   }
+}
+

simulation/data/pjirobot/data/data/map/91428339c0494a6a8f12722e8caf8d71/591ea605d8964d53a3e1f49fccd84fc2/0d6cc0319fc245a7b7bc2909804f9d54/map.yaml

@@ -0,0 +1,6 @@
+image: /root/pjirobot/data//mapBuf/map.pgm
+resolution: 0.05
+origin: [-2.12137, -6.19824, 0.0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196

simulation/data/pjirobot/data/data/map/91428339c0494a6a8f12722e8caf8d71/591ea605d8964d53a3e1f49fccd84fc2/0d6cc0319fc245a7b7bc2909804f9d54/param.yaml

@@ -0,0 +1,3 @@
+name:
+  - [[1, 4, 9, 16], [1, 4, 9, 16], [1, 4, 9, 16], [1, 4, 9, 16]]
+  - [1, 4, 9, 16]

simulation/data/pjirobot/data/data/map/91428339c0494a6a8f12722e8caf8d71/591ea605d8964d53a3e1f49fccd84fc2/0d6cc0319fc245a7b7bc2909804f9d54/stations.json

@@ -0,0 +1,145 @@
+{
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+         "yaw" : -0.015495602998563564
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+}
+

simulation/data/pjirobot/data/data/map/91428339c0494a6a8f12722e8caf8d71/591ea605d8964d53a3e1f49fccd84fc2/0d6cc0319fc245a7b7bc2909804f9d54/stations_init.json

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

simulation/data/pjirobot/data/data/map/function_links.json

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

simulation/data/pjirobot/data/data/map/maps.json

@@ -0,0 +1,29 @@
+{
+   "maps" : [
+      {
+         "buildId" : "4ab3d1093a0e480394256ee69c1ceec3",
+         "buildName" : "行知楼",
+         "data" : [
+            {
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+                     "mapId" : "5de4be96412d4827bb1092031b72642c",
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+               "floorId" : "c322c8f9d6ff4a51b3887155c611a617"
+            }
+         ]
+      }
+   ]
+}
+

simulation/data/pjirobot/data/data/mapBuf/forbid_area.json

@@ -0,0 +1,354 @@
+{
+   "forbidArea" : null,
+   "forbidLine" : [
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+         "id" : "44d683af67c04c17b3819fe9e9fe382e",
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+}
+

simulation/data/pjirobot/data/data/mapBuf/forbid_area.yaml

@@ -0,0 +1 @@
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simulation/data/pjirobot/data/data/mapBuf/forbid_area_init.json

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