部署-外网（已测试）

simulation/catkin_map2gazebo/build/CMakeFiles/Makefile2

@@ -296,8 +296,8 @@ CMakeFiles/download_extra_data.dir/clean:
 # Target rules for target gtest/googlemock/CMakeFiles/gmock_main.dir
 
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 gtest/googlemock/CMakeFiles/gmock_main.dir/all: gtest/googletest/CMakeFiles/gtest.dir/all
+gtest/googlemock/CMakeFiles/gmock_main.dir/all: gtest/googlemock/CMakeFiles/gmock.dir/all
 	$(MAKE) -f gtest/googlemock/CMakeFiles/gmock_main.dir/build.make gtest/googlemock/CMakeFiles/gmock_main.dir/depend
 	$(MAKE) -f gtest/googlemock/CMakeFiles/gmock_main.dir/build.make gtest/googlemock/CMakeFiles/gmock_main.dir/build
 	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/cicv/work/pji_desktop/simulation/catkin_map2gazebo/build/CMakeFiles --progress-num=3,4 "Built target gmock_main"

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="-11.215782074114232" />
-  <param name="initial_pose_y" value="-7.821024088084782" />
-  <param name="initial_pose_a" value="1.6319316653493963" />
+  <param name="initial_pose_x" value="0.25328280071991505" />
+  <param name="initial_pose_y" value="-0.5090447876812273" />
+  <param name="initial_pose_a" value="-1.5138750335598075" />
 </node>
     
 </launch>

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 -11.215782074114232 -y -7.821024088084782 -z 0.0 -R 0 -P 0 -Y 1.6319316653493963" name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"/>
+  <node args="-param robot_description -urdf -model mycar -x 0.25328280071991505 -y -0.5090447876812273 -z 0.0 -R 0 -P 0 -Y -1.5138750335598075" 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>8 265000000</sim_time>
-      <real_time>8 283810754</real_time>
-      <wall_time>1729562238 554206956</wall_time>
-      <iterations>8265</iterations>
+      <sim_time>18 119000000</sim_time>
+      <real_time>18 151922729</real_time>
+      <wall_time>1729692076 943355833</wall_time>
+      <iterations>18119</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>5 -5 2 0 0.275643 2.35619</pose>
+        <pose>15.5037 -16.6625 6.55673 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

@@ -1,2351 +1,1749 @@
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simulation/data/evaluation/1/result/log.txt

@@ -1,3 +1,3 @@
-[2024-10-22 14:10:01,101] - [INFO] [pji_run.py] [line:50] - [[case:test-1.bag] SINGLE_CASE_EVAL: Start evaluating:]
-[2024-10-22 14:10:01,369] - [INFO] [single_case_evaluate.py] [line:113] - [[case:test-1.bag] SINGLE_CASE_EVAL: Dimension evaluate start: ]
-[2024-10-22 14:10:01,707] - [INFO] [pji_run.py] [line:60] - [[case:test-1.bag] SINGLE_CASE_EVAL: End.]
+[2024-10-23 22:13:35,652] - [INFO] [pji_run.py] [line:50] - [[case:test-1.bag] SINGLE_CASE_EVAL: Start evaluating:]
+[2024-10-23 22:13:35,931] - [INFO] [single_case_evaluate.py] [line:113] - [[case:test-1.bag] SINGLE_CASE_EVAL: Dimension evaluate start: ]
+[2024-10-23 22:13:36,282] - [INFO] [pji_run.py] [line:60] - [[case:test-1.bag] SINGLE_CASE_EVAL: End.]

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

@@ -1 +1 @@
-{"testMileage": "35.78米", "testDuration": "24.26秒", "algorithmLevel": "优秀"}
+{"testMileage": "27.63米", "testDuration": "18.20秒", "algorithmLevel": "优秀"}

simulation/data/evaluation/2/result/EgoState_pji.csv

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-2024-10-22 14:09:26.313691,20.138308,1988,1.0236667666544514,1.1191817679431861,-8.510573094748508e-06,0.7602130788172485,-0.0035938535385475977,0.0,0.2934272150027153,0.02975829918338208,9.796208557483812,0.0,0.0,-0.048256188453487545,0,
-2024-10-22 14:09:26.323794,20.148411,1989,1.024688274316162,1.121038920032322,-8.485512084967228e-06,0.7666628270136584,-0.003522227436353742,0.0,0.1784486271692849,-0.007997143841312865,9.79870272974836,0.0,0.0,-0.05351549430091687,0,
-2024-10-22 14:09:26.335563,20.16018,1990,1.0257180653917328,1.1229071193395253,-8.419206280967095e-06,0.7706667271271562,-0.003959076749008356,0.0,0.11064757637777325,-0.02345394827978751,9.801070471719912,0.0,0.0,-0.05661907764957114,0,
-2024-10-22 14:09:26.345440,20.170057,1991,1.0267539471497906,1.1247819045593803,-8.285080468135864e-06,0.7732767048938525,-0.004168970000948691,0.0,0.07222119688072691,-0.01820209932557272,9.801459812161212,0.0,0.0,-0.058458190248095766,0,
-2024-10-22 14:09:26.355298,20.179915,1992,1.0277951088934483,1.126663127117069,-8.10422789904175e-06,0.7763780226388587,-0.0041740880355490674,0.0,0.08574527729708208,-0.011311992459464702,9.801213324292098,0.0,0.0,-0.04854770719381144,0,
-2024-10-22 14:09:26.365290,20.189907,1993,1.0288391221741178,1.1285488637072107,-7.928332945633665e-06,0.7775582662182131,-0.003816018393072035,0.0,0.033627046227083235,-0.00036859934075317047,9.800087314532584,0.0,0.0,-0.04662184794298847,0,
-2024-10-22 14:09:26.375666,20.200283,1994,1.0298844124397124,1.1304366123334402,-7.778487375612042e-06,0.7782323634420413,-0.0035931226699484065,0.0,0.018565048243625388,-0.0038010441099664777,9.799986265970391,0.0,0.0,-0.046548580210983445,0,
-2024-10-22 14:09:26.385588,20.210205,1995,1.0309311334979254,1.1323255805674284,-7.636601362999429e-06,0.778847926733916,-0.0035484212930880776,0.0,0.017122134744967026,-0.008803742624255682,9.800471282006386,0.0,0.0,-0.04667004096835781,0,
-2024-10-22 14:09:26.395752,20.220369,1996,1.0319795714711293,1.1342156574668043,-7.490134863515074e-06,0.7795145555571779,-0.0035502767737223663,0.0,0.01863955249280947,-0.01028259170278531,9.800790357967264,0.0,0.0,-0.04681937137656128,0,
-2024-10-22 14:09:26.405696,20.230313,1997,1.0330298042323236,1.136107011135639,-7.341501601330902e-06,0.7802527471653501,-0.003515771959668984,0.0,0.02067359414957533,-0.009465306031083826,9.800812100360728,0.0,0.0,-0.047030128560461106,0,
-2024-10-22 14:09:26.415753,20.24037,1998,1.0340818337869504,1.1379998576512218,-7.199689431476586e-06,0.7810550997040819,-0.0034478840638429323,0.0,0.022483063423542435,-0.008698627869748468,9.800705994115555,0.0,0.0,-0.04732092420901732,0,
-2024-10-22 14:09:26.425946,20.250563,1999,1.035135708832565,1.1398943422153365,-7.071365201151425e-06,0.7819051635256633,-0.0033820116968347248,0.0,0.023813484139835393,-0.008912636194925386,9.800635906163414,0.0,0.0,-0.04769197446123292,0,
-2024-10-22 14:09:26.435617,20.260234,2000,1.0361915296716353,1.1417905247471543,-6.962471766312761e-06,0.7827806400949872,-0.0033452489719520864,0.0,0.024559909107017705,-0.009720399543062556,9.8003234116081,0.0,0.0,-0.048135090538951576,0,
-2024-10-22 14:09:26.445754,20.270371,2001,1.037189774501886,1.1435966185487858,-7.4328834020545576e-06,0.7164755550481503,-0.000870618169938292,0.0,-1.6791328638492473,0.06461432729749475,9.810141392830639,0.0,0.0,0.03035394833610176,0,
-2024-10-22 14:09:26.455757,20.280374,2002,1.0381116785779123,1.1452692126547193,-7.550150847912551e-06,0.6652031931851037,-0.003000763698115816,0.0,-1.4479422169662535,-0.06259178579889485,9.821090589173702,0.0,0.0,0.013551281534225693,0,
-2024-10-22 14:09:26.465719,20.290336,2003,1.0389500303295172,1.1467799792305595,-8.352381341780735e-06,0.5965024269109105,-0.0020740233453583946,0.0,-2.1509358741892997,0.03531511372795931,9.747063739879305,0.0,0.0,-0.08396670026711302,0,
-2024-10-22 14:09:26.475734,20.300351,2004,1.0397215021051154,1.1481628290724109,-7.769488589583207e-06,0.5543623227641997,-0.004861090939105067,0.0,-0.93865152951548,-0.11351456974042462,9.863863916649835,0.0,0.0,-0.08233304496263258,0,
-2024-10-22 14:09:26.485812,20.310429,2005,1.0404622021379737,1.1494861127074874,-8.263540785424794e-06,0.5383889381641117,-0.0036915258041858414,0.0,-0.4800826007748033,0.030058097720908894,9.762903384765972,0.0,0.0,-0.0751548556321407,0,
-2024-10-22 14:09:26.495758,20.320375,2006,1.0411880203927744,1.1507738018547382,-9.551510108153638e-06,0.530866990220233,-0.0035261928595763273,0.0,-0.33442223575334407,0.03856928139783578,9.709469333437196,0.0,0.0,-0.06627680523644718,0,
-2024-10-22 14:09:26.505696,20.330313,2007,1.0419026030095266,1.1520414859456019,-7.917901376441883e-06,0.5212260754680856,-0.005910252351127918,0.0,-0.2095342561364964,-0.11377541410613806,9.885016427862519,0.0,0.0,-0.05971375003105483,0,
-2024-10-22 14:09:26.515751,20.340368,2008,1.0426150295537957,1.1532876698454273,-7.324805157762904e-06,0.515395704104008,-0.007371837226205266,0.0,-0.18690890263793594,-0.05252422076055175,9.805225717407234,0.0,0.0,-0.057338549450173054,0,
-2024-10-22 14:09:26.528394,20.353011,2009,1.043321740917461,1.154523090814964,-6.858204474692597e-06,0.5121478799027501,-0.005999816837188671,0.0,-0.08818226844221673,0.029032877210153143,9.796570660179336,0.0,0.0,-0.05504929630431659,0,
-2024-10-22 14:09:26.538461,20.363078,2010,1.0440215436709601,1.1557558591743535,-6.594193061620901e-06,0.5107626265974993,-0.003936282925356824,0.0,-0.03931643285323013,0.04577386032584995,9.798736423957717,0.0,0.0,-0.053753271754913234,0,
-2024-10-22 14:09:26.548646,20.373263,2011,1.0447522173281298,1.1570535008701037,-7.2308034309159774e-06,0.5532030813132882,-0.0015841548297151843,0.0,1.265579234171897,0.07826480902359446,9.763238714568423,0.0,0.0,-0.007821060988786972,0,
-2024-10-22 14:09:26.558668,20.383285,2012,1.0455207033541345,1.1584177875988724,-6.8584661562301474e-06,0.5701864004595744,-0.0036926238396133237,0.0,0.3895212747657679,-0.08221872094409466,9.833924741422269,0.0,0.0,-0.06614021672994716,0,
-2024-10-22 14:09:26.568558,20.393175,2013,1.0463034936118727,1.1597962670338533,-6.819217764554575e-06,0.57238020668655,-0.004384176292060693,0.0,0.06307193723093231,-0.03804389175852775,9.801701829553387,0.0,0.0,-0.13890782367029847,0,
-2024-10-22 14:09:26.578483,20.4031,2014,1.0470563213476576,1.1611303465857832,-6.760351957867117e-06,0.5369695881796405,-0.0011694124331233181,0.0,-0.8547596791207271,0.0348366868102582,9.842370642237245,0.0,0.0,-0.23902531318165515,0,
-2024-10-22 14:09:26.588633,20.41325,2015,1.047778654426895,1.1624200685559092,-7.456437709184305e-06,0.5246814998681666,-0.0017648967578023811,0.0,-0.4671443463304762,-0.05598979073227067,9.839955211175722,0.0,0.0,-0.26104497078839134,0,
-2024-10-22 14:09:26.598799,20.423416,2016,1.0484945055482413,1.1636896340722451,-8.802897087822892e-06,0.5231857578250517,-0.0013511539176179089,0.0,-0.056548556129311235,-0.009048350578354646,9.715021412738334,0.0,0.0,-0.2590457674256474,0,
-2024-10-22 14:09:26.608728,20.433345,2017,1.0492180140162868,1.1649370825963565,-8.799423517988347e-06,0.5180646853534295,-0.005899556417213331,0.0,-0.12809285773466517,-0.15867274301958129,9.799689951053352,0.0,0.0,-0.2561843183849231,0,
-2024-10-22 14:09:26.618737,20.443354,2018,1.0499460257282025,1.1661703976584523,-8.619551008767767e-06,0.5151819932829463,-0.007078925086420724,0.0,-0.08331376960657197,-0.06674527111569639,9.798893208472956,0.0,0.0,-0.2544112401741603,0,
-2024-10-22 14:09:26.628728,20.453345,2019,1.0506744240089563,1.1673977982483854,-8.405529197258454e-06,0.5140632653009117,-0.006148957227675958,0.0,-0.030298064015544655,-0.011119504546640138,9.800083937320823,0.0,0.0,-0.2543410460042052,0,
-2024-10-22 14:09:26.638765,20.463382,2020,1.0514025874313215,1.1686248699798303,-8.207041279947869e-06,0.5144541342450333,-0.004649269797876596,0.0,0.01215596019607598,0.0022766363095838727,9.799757976219787,0.0,0.0,-0.2556347678167347,0,
-2024-10-22 14:09:26.648790,20.473407,2021,1.05213199840619,1.1698536699820241,-8.15916339373668e-06,0.5154882665603494,-0.0036509453888061458,0.0,0.029259296725049014,-0.011686977212831946,9.799715632086501,0.0,0.0,-0.25718570580424455,0,
-2024-10-22 14:09:26.658721,20.483338,2022,1.052873370623877,1.1710948463067232,-8.127854023445846e-06,0.5252784073785627,-0.004858536248429863,0.0,0.26382297045243813,-0.06295639031182497,9.80018536273083,0.0,0.0,-0.1919662061808056,0,
-2024-10-22 14:09:26.668765,20.493382,2023,1.0535952067916448,1.172300677477773,-7.774318434849992e-06,0.4930036155221561,-0.003455433427984231,0.0,-0.7576262161964851,-0.008660704392109886,9.848689151454703,0.0,0.0,-0.18829425608831785,0,
-2024-10-22 14:09:26.678720,20.503337,2024,1.0542527981906045,1.1734123910007979,-8.93731409121884e-06,0.44540195996621906,0.00010289829727938017,0.0,-1.376306518970836,0.08263934072403874,9.752006675271742,0.0,0.0,-0.19940551379488644,0,
-2024-10-22 14:09:26.688783,20.5134,2025,1.054834033654388,1.1743981312297342,-1.0074792947761813e-05,0.39420593434168416,0.0006251795726674086,0.0,-1.6356377240789368,0.013159644077148586,9.748943677465936,0.0,0.0,-0.1992771671556593,0,
-2024-10-22 14:09:26.698949,20.523566,2026,1.0553341737558055,1.1752447344663262,-9.896346711259218e-06,0.3287581239132876,-0.001411720456557064,0.0,-1.5392074629022308,-0.11003493639109406,9.88790860386823,0.0,0.0,-0.12527104249384888,0,
-2024-10-22 14:09:26.711379,20.535996,2027,1.0557741878462157,1.1759783231753345,-1.0583396668435718e-05,0.29254124189136305,-0.0032438537110099724,0.0,-1.0621332867454758,-0.05197569384784501,9.776485389249606,0.0,0.0,-0.09610975703995132,0,
-2024-10-22 14:09:26.721401,20.546018,2028,1.056184565273133,1.17663556732247,-1.0208577491128967e-05,0.2679652190913738,-0.008875427029979916,0.0,-0.6536313930845306,-0.15707387105044493,9.839489846055418,0.0,0.0,-0.07669186821749463,0,
-2024-10-22 14:09:26.731515,20.556132,2029,1.0565763553358447,1.1772547394985597,-9.625015502404133e-06,0.2569577699500153,-0.008375370515878115,0.0,-0.27866637821185414,0.008269940438390641,9.800977975213389,0.0,0.0,-0.07051378344217145,0,
-2024-10-22 14:09:26.741384,20.566001,2030,1.0569537404062814,1.1778635798849002,-9.423266178892886e-06,0.25711703334885294,-0.003843128673273258,0.0,-0.09499144575397794,0.12168625208838196,9.752697150431223,0.0,0.0,-0.07160472911975772,0,
-2024-10-22 14:09:26.751624,20.576241,2031,1.0573258320791266,1.1784686139366696,-9.0165316558935e-06,0.25518456086341884,-0.004078169557181982,0.0,-0.09080382227330053,-0.015970052775734645,9.79576599405117,0.0,0.0,-0.07023833490769246,0,
-2024-10-22 14:09:26.761562,20.586179,2032,1.0577658244315566,1.1791763132577238,-8.922594401862549e-06,0.3277952342435831,-0.006684462075582271,0.0,1.8983407645529102,-0.09044675303627493,9.840210666622985,0.0,0.0,-0.1295879149023585,0,
-2024-10-22 14:09:26.771770,20.596387,2033,1.0583183033578543,1.1800538295344751,-9.052989044931736e-06,0.40158067909956136,-0.00797876619385492,0.0,2.242960455702093,-0.019616832299481673,9.738146035993553,0.0,0.0,-0.13678190275197885,0,
-2024-10-22 14:09:26.781612,20.606229,2034,1.0589806307657694,1.181106197993769,-7.804991274854012e-06,0.47596679289783717,-0.007545198344768328,0.0,1.8777093610150914,-0.03138966217731797,9.860943318120208,0.0,0.0,-0.14018962699814289,0,
-2024-10-22 14:09:26.791633,20.61625,2035,1.0597050455115427,1.182268684266712,-7.64088259736645e-06,0.5030063172564273,-0.004806709211254409,0.0,0.8837490904641144,0.06502563717923888,9.761208107183588,0.0,0.0,-0.15993722155817366,0,
-2024-10-22 14:09:26.801608,20.626225,2036,1.0604551550275736,1.1834681258905089,-7.3848460284201e-06,0.5137801029640274,-0.00490278343341693,0.0,0.2813929806414795,-0.03051036718167032,9.800835523616374,0.0,0.0,-0.17192786571793106,0,
-2024-10-22 14:09:26.811722,20.636339,2037,1.0612166063941337,1.1846815296345723,-7.287469103930966e-06,0.518139291254977,-0.00461989654985494,0.0,0.11889268315028247,-0.017830333239322368,9.797057136018788,0.0,0.0,-0.17646375181846355,0,
-2024-10-22 14:09:26.821734,20.646351,2038,1.0619832709136126,1.185900532843727,-7.263685074976323e-06,0.5199678309078184,-0.004194730984459161,0.0,0.04890089367370754,-0.01588568709601502,9.799432655359338,0.0,0.0,-0.17814329124052347,0,
-2024-10-22 14:09:26.831828,20.656445,2039,1.0627530468635566,1.1871211345838217,-7.3101089841098865e-06,0.5206640885430591,-0.004004073625326138,0.0,0.018864213264828227,-0.02182511559093978,9.799100118461812,0.0,0.0,-0.17873200952635696,0,
-2024-10-22 14:09:26.841654,20.666271,2040,1.063525404826231,1.188341329073009,-7.37388595327404e-06,0.5208524797828797,-0.0039961866415300805,0.0,0.005648631685284267,-0.026936673481042995,9.799585598762702,0.0,0.0,-0.17891715621238385,0,
-2024-10-22 14:09:26.851730,20.676347,2041,1.064311782780657,1.189579711258589,-7.4710105750289135e-06,0.5347232573066949,-0.003998494786645318,0.0,0.36544221059010806,-0.47404133556429695,10.579059404578441,0.0,0.0,-0.11215037932557739,0,
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simulation/data/evaluation/2/result/log.txt

@@ -1,3 +1,3 @@
-[2024-10-22 14:10:03,374] - [INFO] [pji_run.py] [line:50] - [[case:test-2.bag] SINGLE_CASE_EVAL: Start evaluating:]
-[2024-10-22 14:10:03,632] - [INFO] [single_case_evaluate.py] [line:113] - [[case:test-2.bag] SINGLE_CASE_EVAL: Dimension evaluate start: ]
-[2024-10-22 14:10:03,979] - [INFO] [pji_run.py] [line:60] - [[case:test-2.bag] SINGLE_CASE_EVAL: End.]
+[2024-10-23 22:13:38,025] - [INFO] [pji_run.py] [line:50] - [[case:test-2.bag] SINGLE_CASE_EVAL: Start evaluating:]
+[2024-10-23 22:13:38,239] - [INFO] [single_case_evaluate.py] [line:113] - [[case:test-2.bag] SINGLE_CASE_EVAL: Dimension evaluate start: ]
+[2024-10-23 22:13:38,620] - [INFO] [pji_run.py] [line:60] - [[case:test-2.bag] SINGLE_CASE_EVAL: End.]

simulation/data/evaluation/2/result/report.json

@@ -1 +1 @@
-{"testMileage": "32.15米", "testDuration": "22.87秒", "algorithmLevel": "优秀"}
+{"testMileage": "24.68米", "testDuration": "14.31秒", "algorithmLevel": "一般"}

simulation/data/evaluation/3/result/EgoState_pji.csv

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simulation/data/evaluation/3/result/log.txt

@@ -1,3 +1,3 @@
-[2024-10-22 14:10:05,684] - [INFO] [pji_run.py] [line:50] - [[case:test-3.bag] SINGLE_CASE_EVAL: Start evaluating:]
-[2024-10-22 14:10:05,946] - [INFO] [single_case_evaluate.py] [line:113] - [[case:test-3.bag] SINGLE_CASE_EVAL: Dimension evaluate start: ]
-[2024-10-22 14:10:06,277] - [INFO] [pji_run.py] [line:60] - [[case:test-3.bag] SINGLE_CASE_EVAL: End.]
+[2024-10-23 22:13:40,302] - [INFO] [pji_run.py] [line:50] - [[case:test-3.bag] SINGLE_CASE_EVAL: Start evaluating:]
+[2024-10-23 22:13:40,533] - [INFO] [single_case_evaluate.py] [line:113] - [[case:test-3.bag] SINGLE_CASE_EVAL: Dimension evaluate start: ]
+[2024-10-23 22:13:40,868] - [INFO] [pji_run.py] [line:60] - [[case:test-3.bag] SINGLE_CASE_EVAL: End.]

simulation/data/evaluation/3/result/report.json

@@ -1 +1 @@
-{"testMileage": "26.47米", "testDuration": "20.72秒", "algorithmLevel": "优秀"}
+{"testMileage": "24.08米", "testDuration": "16.77秒", "algorithmLevel": "一般"}

simulation/merge_obstacles_data/merged_obstacles_new.csv

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