refactor：缩短仿真测试环境启动过程等待时间

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

@@ -1,6 +1,10 @@
 {
    "modeTypes" : null,
    "netConfig" : {
+      "accessKey" : "sicEVjENPgTIoXLfpQLKrUfFxOazYg",
+      "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" : "1646326924873211905",

simulation/start_container.sh

@@ -53,7 +53,7 @@ pkill -f "rviz"
 pkill -f "SimulationEnvs"
 pkill -f "Navigation"
 rosnode kill --all
-sleep 2
+sleep 1
 nohup roslaunch SimulationEnvs env_node.launch > "$SIMULATION_PATH"/logs/env_node.launch.log 2>&1 &
 sleep 1
 disown
@@ -87,13 +87,13 @@ PJI_ENGINE_PATH="/home/pji_engine"
 ## 启动加载地图服务
 command="cd $MAP_SERVICE_PATH && source devel/setup.bash && nohup rosrun load_map load_map > load_map.log 2>&1 &"
 docker exec "$CONTAINER_NAME" /bin/bash -c "$command"
-sleep 1
+sleep 0.5
 ## 启动导航节点
 command="cd $PJI_NAV_PATH && source install/setup.bash && nohup roslaunch pji_navigation navigation.launch >/dev/null 2>&1 &"
 docker exec "$CONTAINER_NAME" /bin/bash -c "$command"
-sleep 1
+sleep 0.5
 ## 启动engine节点
 command="cd $PJI_ENGINE_PATH && source install/setup.bash && nohup roslaunch pji_launch pji_engine.launch >/dev/null 2>&1 &"
 docker exec "$CONTAINER_NAME" /bin/bash -c "$command"
-sleep 1
+#sleep 0.5
 echo "done"