commit

aarch64/pjibot_delivery/配送机器人默认配置文件-cloud-config.yaml

@@ -63,7 +63,7 @@ hosts:
         - "LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu"
         - "ROS_ROOT=/opt/ros/noetic/share/ros"
         - "ROS_DISTRO=noetic"
-    topics:
+    topics: # /robot_pose,/robot/realtime_cost_map_,/tracking/objects,/robot/TaskInfo,/robot/targetposition,/wheel,/wheel_odom,/robot/global_trajectory_,/robot/target_trajectories,/robot/evaluator_trajectories,/robot/final_trajectory,/nav/task_feedback_info,/cmd_vel,/imu,/points_cluster,/nav/task_feedback_info
       - /robot_pose # /location_realtime
       - /robot/realtime_cost_map_ # /cloud_to_map_node
       - /tracking/objects # /tracking/imm_ukf_pda_track

aarch64/pjibot_guide/common/service/rosbag_record.go

@@ -97,6 +97,12 @@ func BagRecord(nodeName string) {
 				if signal == 2 {
 					goto startRecord // 收到信号 2 重新 record 命令
 				}
+				if signal == 3 { // 这个关闭是等待数据处理时的关闭
+					c_log.GlobalLogger.Error("采集数据，暂时关闭record命令进程")
+					_ = util.KillProcessByPid(recordSubProcessPid)
+					_ = cmd.Process.Kill()
+					continue
+				}
 			}
 		}
 	}

aarch64/pjibot_guide/master/package/service/move_bag_and_send_window.go

@@ -34,7 +34,7 @@ func RunTimeWindowProducerQueue() {
 		time.Sleep(time.Duration(1) * time.Second)
 		if len(entity.TimeWindowProducerQueue) > 0 {
 			// 如果有可处理的，先把record命令杀掉
-			commonService.ChannelKillRosRecord <- 1
+			commonService.ChannelKillRosRecord <- 3
 			// 处理
 			bags, _ := util.ListAbsolutePathWithSuffixAndSort(commonConfig.CloudConfig.BagDataDir, ".bag")
 			currentTimeWindow := entity.TimeWindowProducerQueue[0]

aarch64/pjibot_guide/引导机器人默认配置文件-cloud-config.yaml

@@ -82,7 +82,7 @@ hosts:
         - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/dist-packages"
         - "ROS_HOSTNAME=192.168.1.104"
         - "CMAKE_PREFIX_PATH=/opt/ros/melodic"
-    topics:
+    topics: # /amcl_pose,/ob_camera_01/color/image_raw,/ob_camera_02/color/image_raw,/diagnostics,/locate_info,/obstacle_detection,/odom,/move_base/global_costmap/costmap,/move_base/global_costmap/costmap_updates,/move_base/local_costmap/costmap,/move_base/local_costmap/costmap_updates,/scan,/scan_map_icp_amcl_node/scan_point_transformed,/sys_info,/imu,/depth_scan_02,/map,/scan_filtered,/sonar_left,/sonar_right,/sonar_mid,/sonar_rmid,/tf,/tf_static,/cmd_vel,/move_base/DWAPlannerROS/global_plan,/move_base/DWAPlannerROS/local_plan,/move_base/GlobalPlanner/plan,/move_base/global_costmap/footprint,/move_base/local_costmap/footprint,/robot_pose_tf
       - /amcl_pose # /amcl
       - /ob_camera_01/color/image_raw # /ob_camera_01/camera
       #      - /ob_camera_01/depth/points # /ob_camera_01/camera

aarch64/pjibot_patrol/巡检机器人默认配置文件-cloud-config.yaml

@@ -63,7 +63,7 @@ hosts:
         - "LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu"
         - "ROS_ROOT=/opt/ros/noetic/share/ros"
         - "ROS_DISTRO=noetic"
-    topics:
+    topics: # /robot_pose,/robot/realtime_cost_map_,/tracking/objects,/robot/TaskInfo,/robot/targetposition,/wheel,/wheel_odom,/robot/global_trajectory_,/robot/target_trajectories,/robot/evaluator_trajectories,/robot/final_trajectory,/nav/task_feedback_info,/cmd_vel,/imu,/points_cluster,/nav/task_feedback_info
       - /robot_pose # /location_realtime
       - /robot/realtime_cost_map_ # /cloud_to_map_node
       - /tracking/objects # /tracking/imm_ukf_pda_track