commit

aarch64/pjibot_delivery/common/service/rosbag_record.go

@@ -38,7 +38,7 @@ func BagRecord(nodeName string) {
 						command = append(command, topic2)
 					}
 				} else {
-					c_log.GlobalLogger.Infof("平台没有配置采集话题【%v】，不采集默认话题", platformTopics)
+					c_log.GlobalLogger.Infof("平台配置了采集话题【%v】，采集配置话题", platformTopics)
 					for _, topic1 := range config.RecordTopics {
 						command = append(command, topic1)
 					}

aarch64/pjibot_guide/common/service/rosbag_record.go

@@ -38,7 +38,7 @@ func BagRecord(nodeName string) {
 						command = append(command, topic2)
 					}
 				} else {
-					c_log.GlobalLogger.Infof("平台没有配置采集话题【%v】，不采集默认话题", platformTopics)
+					c_log.GlobalLogger.Infof("平台配置了采集话题【%v】，采集配置话题", platformTopics)
 					for _, topic1 := range config.RecordTopics {
 						command = append(command, topic1)
 					}

aarch64/pjibot_patrol/common/service/rosbag_record.go

@@ -38,7 +38,7 @@ func BagRecord(nodeName string) {
 						command = append(command, topic2)
 					}
 				} else {
-					c_log.GlobalLogger.Infof("平台没有配置采集话题【%v】，不采集默认话题", platformTopics)
+					c_log.GlobalLogger.Infof("平台配置了采集话题【%v】，采集配置话题", platformTopics)
 					for _, topic1 := range config.RecordTopics {
 						command = append(command, topic1)
 					}

aarch64/pjisuv/common/service/rosbag_record.go

@@ -37,7 +37,7 @@ func BagRecord(nodeName string) {
 							command = append(command, topic2)
 						}
 					} else {
-						c_log.GlobalLogger.Infof("平台没有配置采集话题【%v】，不采集默认话题", platformTopics)
+						c_log.GlobalLogger.Infof("平台配置了采集话题【%v】，采集配置话题", platformTopics)
 						for _, topic1 := range config.RecordTopics {
 							command = append(command, topic1)
 						}

test/rosbag_record_test.go

@@ -0,0 +1 @@
+package test

tools/record/main/main.go

@@ -0,0 +1,40 @@
+package main
+
+import (
+	"cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
+	"cicv-data-closedloop/common/config/c_log"
+	"cicv-data-closedloop/common/util"
+)
+
+func main() {
+	// 定义一个字符串切片来存储转换后的结果
+	envVars := []string{
+		"C_INCLUDE_PATH=/usr/include/drm:",
+		"USER=root",
+		"ROS_PACKAGE_PATH=/opt/ros/melodic/share",
+		"LD_LIBRARY_PATH=/opt/ros/melodic/lib:/opt/ros/melodic/lib/aarch64-linux-gnu",
+		"ROS_ETC_DIR=/opt/ros/melodic/etc/ros",
+		"SHLVL=1",
+		"HOME=/root",
+		"ROS_PYTHON_VERSION=2",
+		"PCMANFM_OUTLINE_MODE=on",
+		"CPLUS_INCLUDE_PATH=/usr/include/drm:",
+		"ROS_DISTRO=melodic",
+		"ROS_VERSION=1",
+		"PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig",
+		"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",
+		"ROS_ROOT=/opt/ros/melodic/share/ros",
+		"ROSLISP_PACKAGE_DIRECTORIES=",
+		"ROS_MASTER_URI=http://192.168.1.104:11311",
+		"PYTHONPATH=/opt/ros/melodic/lib/python2.7/dist-packages",
+		"ROS_HOSTNAME=192.168.1.104",
+		"CMAKE_PREFIX_PATH=/opt/ros/melodic",
+	}
+	// 1 启动父命令
+	c_log.GlobalLogger.Info("record 环境变量为：", config.RosbagEnvs)
+
+	cmd, _ := util.ExecuteWithEnvAndDirAsync(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
+	recordProcessPid := cmd.Process.Pid
+	recordSubProcessPid, _ := util.GetSubProcessPid(recordProcessPid)
+	c_log.GlobalLogger.Info("获取进程 ", recordProcessPid, " 的子进程的pid：", recordSubProcessPid)
+}