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@@ -0,0 +1,173 @@
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+---
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+
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+refresh-cloud-config: false
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+compress-bag: false
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+clean-before-start: false
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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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+full-collect: true
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+bag-number: 120 # 无人驾驶比赛期间，这里不需要缓存
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+config-refresh-interval: 60
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+disk:
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+ name: /dev/vdb # 磁盘名称
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+ used: 900000000000 # 磁盘占用阈值，单位bytes
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+bag-data-dir: /mnt/media/sda1/cicv-data-closedloop/data/
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+bag-copy-dir: /mnt/media/sda1/cicv-data-closedloop/copy/
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+time-to-label-json-path: /mnt/media/sda1/cicv-data-closedloop/timeToLabel.json
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+triggers-dir: /mnt/media/sda1/cicv-data-closedloop/triggers/
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+time-window-send-gap: 6
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+tcp-port: 12340
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+rpc-port: 12341
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+ros:
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+ master-address: 192.168.1.102:11311
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+ nodes:
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+ - /camera_output
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+ - /ins
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+ - /lidar_pretreatment
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+ - /sensorfusion
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+ - /control
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+
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+# /camera_image,/cicv_amr_trajectory,/pj_control_pub,/data_read,/tftrafficlight,/cicv_amr_trajectory,/trajectory_display,/reference_display,/reference_trajectory,/tprouteplan,/map_polygon,/vehicle_info,/target_line,/parking_line,/station_status,/pj_control_pub,/pj_control_debug_pub,/tar_traj_pub,/park_task,/parking_line,/map_display,/v2x_planner,/end_point_message,/heartbeat_info,/fault_info,/planning_fault_info,/nodefault_info,/points_concat,/tpperception,/cicv_location,/tpperception,/pull_over,/pj_vehicle_fdb_pub,/pre_line,/target_line,/amr_pose,/destination_pose,/lidar_roi,/obstacle_display,/target_point_pub,/fusion/traffic_light,/roi/polygon,/tpperception/vis
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+hosts:
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+ - name: node1
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+ ip: 192.168.1.102
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+ rosbag:
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+ path: "/opt/ros/melodic/bin/rosbag"
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+ envs:
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+ - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib/libaicc"
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+ - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
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+ - "USER=root"
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+ - "ROS_OS_OVERRIDE=openembedded"
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+ - "PWD=/mnt/media/sda1/cicv-data-closedloop"
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+ - "HOME=/home/root"
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+ - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
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+ - "ROS_ROOT=/opt/ros/melodic/share/ros"
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+ - "ROS_MASTER_URI=http://192.168.1.102:11311"
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+ - "ROS_VERSION=1"
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+ - "ROS_PYTHON_VERSION=2"
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+ - "ROS_IP=192.168.1.102"
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+ - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
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+ - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
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+ - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin"
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+ - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
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+ - "ROS_DISTRO=melodic"
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+ topics:
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+ - /camera_image # /camera_output
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+ - /cicv_amr_trajectory
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+ - /pj_control_pub # /control
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+ - /data_read
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+ - /tftrafficlight
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+ - /cicv_amr_trajectory
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+ - /trajectory_display
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+ - /reference_display
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+ - /reference_trajectory
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+ - /tprouteplan
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+ - /map_polygon
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+ - /vehicle_info
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+ - /target_line
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+ - /parking_line
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+ - /station_status
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+ - /pj_control_pub
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+ - /pj_control_debug_pub
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+ - /tar_traj_pub
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+ - /park_task
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+ - /parking_line
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+ - /map_display
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+ - /v2x_planner
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+ - /end_point_message
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+ - /heartbeat_info
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+ - /fault_info
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+ - /planning_fault_info
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+ - /nodefault_info
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+ - name: node2
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+ ip: 192.168.1.103
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+ rosbag:
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+ path: "/opt/ros/melodic/bin/rosbag"
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+ envs:
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+ - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib"
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+ - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
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+ - "USER=root"
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+ - "ROS_OS_OVERRIDE=openembedded"
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+ - "PWD=/mnt/media/sda1/cicv-data-closedloop"
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+ - "HOME=/home/root"
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+ - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
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+ - "ROS_ROOT=/opt/ros/melodic/share/ros"
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+ - "ROS_MASTER_URI=http://192.168.1.102:11311"
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+ - "ROS_VERSION=1"
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+ - "ROS_PYTHON_VERSION=2"
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+ - "ROS_IP=192.168.1.103"
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+ - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
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+ - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
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+ - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin "
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+ - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
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+ - "ROS_DISTRO=melodic"
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+ topics:
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+ - /points_concat # /lidar_pretreatment
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+ - /tpperception # /sensorfusion
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+ - /cicv_location # /ins
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+ - /tpperception
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+ - /pull_over
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+ - /pj_vehicle_fdb_pub
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+ - /pre_line
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+ - /target_line
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+ - /amr_pose
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+ - /destination_pose
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+ - /lidar_roi
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+ - /obstacle_display
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+ - /target_point_pub
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+ - /fusion/traffic_light
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+ - /roi/polygon
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+ - /tpperception/vis
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+triggers:
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+ - label: rapidaccel
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+ topics:
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+ - /tpperception
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+ - /points_concat
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+ - /cicv_location
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+ - /camera_image
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+ - label: brake
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+ topics:
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+ - /tpperception
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+ - /points_concat
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+ - /cicv_location
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+ - /camera_image
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+ - label: EmergencyStop
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+ topics:
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+ - /tpperception
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+ - /points_concat
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+ - /cicv_location
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+ - /camera_image
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+ - label: AutoDLimit
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+ topics:
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+ - /tpperception
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+ - /points_concat
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+ - /cicv_location
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+ - /camera_image
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+ - label: lanechange
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+ topics:
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+ - /tpperception
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+ - /points_concat
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+ - /cicv_location
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+ - /camera_image
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+ - label: brakefault
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+ topics:
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+ - /tpperception
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+ - /points_concat
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+ - /cicv_location
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+ - /camera_image
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+ - label: takeover
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+ topics:
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+ - /tpperception
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+ - /points_concat
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+ - /cicv_location
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+ - /camera_image
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+ - label: TTC
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+ topics:
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+ - /tpperception
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+ - /points_concat
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+ - /cicv_location
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+ - /camera_image
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