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@@ -0,0 +1,159 @@
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+---
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+monitor:
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+ url: http://36.110.106.142:12341/web_server/monitor/insert
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+platform:
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+ url-device-auth: http://1.202.169.139:8081/device/auth
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+ url-task-poll: http://1.202.169.139:8081/device/task/poll
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+ url-task: http://1.202.169.139:8081/device/task
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+
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+bag-number: 60
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+config-refresh-interval: 60
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+disk:
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+ name: /dev/nvme0n1p1 # 磁盘名称
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+ used: 50000000000 # 磁盘占用阈值，单位bytes
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+map-bag-path: /root/cicv-data-closedloop/map.bag
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+tfstatic-bag-path: /root/cicv-data-closedloop/tf_static.bag
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+costmap-bag-path: /root/cicv-data-closedloop/costmap.bag
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+bag-data-dir: /root/cicv-data-closedloop/data/
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+bag-copy-dir: /root/cicv-data-closedloop/copy/
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+triggers-dir: /root/cicv-data-closedloop/triggers/
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+time-window-send-gap: 6
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+rpc-port: 12341
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+ros:
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+ master-address: 192.168.1.104:11311
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+ nodes:
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+ - /amcl
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+ - /ob_camera_01/camera
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+ - /ob_camera_02/camera
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+ - /node_diagnostics
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+ - /localization_monitor_node
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+ - /move_base
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+ - /sensor_fusion_node
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+ - /ltme_node
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+ - /scan_map_icp_amcl_node
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+ - /monitor
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+
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+hosts:
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+ - name: node1
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+ ip: 192.168.1.104
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+ rosbag:
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+ path: "/opt/ros/melodic/bin/rosbag"
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+ envs:
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+ - "C_INCLUDE_PATH=/usr/include/drm:"
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+ - "USER=root"
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+ - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
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+ - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/opt/ros/melodic/lib/aarch64-linux-gnu"
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+ - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
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+ - "SHLVL=1"
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+ - "HOME=/root"
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+ - "ROS_PYTHON_VERSION=2"
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+ - "PCMANFM_OUTLINE_MODE=on"
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+ - "CPLUS_INCLUDE_PATH=/usr/include/drm:"
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+ - "ROS_DISTRO=melodic"
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+ - "ROS_VERSION=1"
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+ - "PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig"
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+ - "PATH=/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/go/bin:/root/go/bin"
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+ - "ROS_ROOT=/opt/ros/melodic/share/ros"
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+ - "ROSLISP_PACKAGE_DIRECTORIES="
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+ - "ROS_MASTER_URI=http://192.168.1.104:11311"
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+ - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/dist-packages"
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+ - "ROS_HOSTNAME=192.168.1.104"
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+ - "CMAKE_PREFIX_PATH=/opt/ros/melodic"
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+ topics:
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+ - /robot_pose
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+ - /robot/realtime_cost_map_
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+ - /tracking/objects
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+ - /robot/TaskInfo
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+ - /robot/targetposition
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+ - /wheel
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+ - /wheel_odom
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+ - /robot/global_trajectory_
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+ - /robot/target_trajectories
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+ - /robot/evaluator_trajectories
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+ - /robot/final_trajectory
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+ - /nav/task_feedback_info
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+ - /cmd_vel
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+ - /imu
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+ - /points_cluster
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+ - /nav/task_feedback_info
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+
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+
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+full-collect: true # 控制是否根据不同的触发器采集不通的topic，一般设置为true，即忽略下面的配置
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+triggers:
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+ - label: detectfault
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+ topics:
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+ - /camera/color/image_raw
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+ - /camera/depth/points
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+ - /diagnostics
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+ - /locate_info
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+ - /obstacle_detection
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+ - /odom
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+ - /move_base/global_costmap/costmap
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+ - /move_base/global_costmap/costmap_updates
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+ - /scan_map_icp_amcl_node/scan_point_transformed
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+ - label: unstabledriving
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+ topics:
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+ - /camera/color/image_raw
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+ - /camera/depth/points
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+ - /diagnostics
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+ - /locate_info
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+ - /obstacle_detection
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+ - /odom
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+ - /move_base/global_costmap/costmap
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+ - /move_base/global_costmap/costmap_updates
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+ - /scan_map_icp_amcl_node/scan_point_transformed
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+ - label: locationfailed
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+ topics:
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+ - /camera/color/image_raw
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+ - /camera/depth/points
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+ - /diagnostics
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+ - /locate_info
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+ - /obstacle_detection
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+ - /odom
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+ - /move_base/global_costmap/costmap
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+ - /move_base/global_costmap/costmap_updates
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+ - /scan_map_icp_amcl_node/scan_point_transformed
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+ - label: obstacledetection
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+ topics:
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+ - /camera/color/image_raw
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+ - /camera/depth/points
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+ - /diagnostics
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+ - /locate_info
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+ - /obstacle_detection
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+ - /odom
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+ - /move_base/global_costmap/costmap
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+ - /move_base/global_costmap/costmap_updates
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+ - /scan_map_icp_amcl_node/scan_point_transformed
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+ - label: overspeed
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+ topics:
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+ - /camera/color/image_raw
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+ - /camera/depth/points
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+ - /diagnostics
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+ - /locate_info
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+ - /obstacle_detection
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+ - /odom
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+ - /move_base/global_costmap/costmap
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+ - /move_base/global_costmap/costmap_updates
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+ - /scan_map_icp_amcl_node/scan_point_transformed
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+ - label: cpuoveroccupied
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+ topics:
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+ - /camera/color/image_raw
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+ - /camera/depth/points
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+ - /diagnostics
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+ - /locate_info
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+ - /obstacle_detection
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+ - /odom
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+ - /move_base/global_costmap/costmap
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+ - /move_base/global_costmap/costmap_updates
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+ - /scan_map_icp_amcl_node/scan_point_transformed
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+ - label: memoveroccupied
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+ topics:
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+ - /camera/color/image_raw
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+ - /camera/depth/points
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+ - /diagnostics
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+ - /locate_info
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+ - /obstacle_detection
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+ - /odom
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+ - /move_base/global_costmap/costmap
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+ - /move_base/global_costmap/costmap_updates
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+ - /scan_map_icp_amcl_node/scan_point_transformed
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