commit

deploy/build-topic_echo.sh

@@ -1,4 +1,4 @@
 #!/bin/bash
 
-# 话题echo程序
-go build -o ./exe/topic_echo.exe ./tools/topic_echo/main/main.go
+# 在cicv-data-closedloop根目录执行命令
+go build -o ./deploy/exe/topic_echo.exe ./tools/topic_echo/main/main.go

tools/topic_echo/main/main.go

@@ -410,7 +410,7 @@ func main() {
 					fmt.Println("收到话题", topic, "的数据", data)
 				}})
 		}
-		//36 todo 没有数据发出
+		//36 仿真平台部孙亚伦开发的底盘数据读取程序
 		if topic == pjisuvConfig.TopicOfDataRead {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
@@ -430,10 +430,10 @@ func main() {
 		}
 		//37
 		// 自动驾驶状态 0 人工 1 自动
-		if topic == "/pj_vehicle_fdb_pub" {
+		if topic == pjisuvConfig.TopicOfPjVehicleFdbPub {
 			_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
 				Node:  rosNode,
-				Topic: "/pj_vehicle_fdb_pub",
+				Topic: topic,
 				Callback: func(data *pjisuv_msgs.VehicleFdb) {
 					fmt.Println("自动驾驶状态为", data.Automode)
 				}})

trigger/pjisuv/cicv_location/overswing/main/overswing.go → trigger/pjisuv/cicv_location/over_swing/main/OverSwing.go

@@ -30,12 +30,12 @@ func Topic() string {
 }
 
 func Label() string {
-	return "overswing"
+	return "OverSwing"
 }
 
 func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
 	if math.Abs(data.AngularVelocityZ) >= 27.0 {
-		return "overswing"
+		return "OverSwing"
 	} else {
 		return ""
 	}

trigger/pjisuv/cicv_location/rapidaccel/main/rapidaccel.go → trigger/pjisuv/cicv_location/rapid_accel/main/RapidAccel.go

@@ -10,13 +10,13 @@ func Topic() string {
 }
 
 func Label() string {
-	return "rapidaccel"
+	return "RapidAccel"
 }
 
 func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
 	fmt.Println("当前减速度为：", data.AccelX)
 	if data.AccelX*9.8 > 5.0 {
-		return "rapidaccel"
+		return "RapidAccel"
 	} else {
 		return ""
 	}