|
|
@@ -0,0 +1,130 @@
|
|
|
+---
|
|
|
+
|
|
|
+refresh-cloud-config: false
|
|
|
+compress-bag: false
|
|
|
+clean-before-start: false
|
|
|
+monitor:
|
|
|
+ url: http://36.110.106.142:12341/web_server/monitor/insert
|
|
|
+platform:
|
|
|
+ url-device-auth: http://1.202.169.139:8081/device/auth
|
|
|
+ url-task-poll: http://1.202.169.139:8081/device/task/poll
|
|
|
+ url-task: http://1.202.169.139:8081/device/task
|
|
|
+full-collect: true
|
|
|
+bag-number: 120 # 无人驾驶比赛期间，这里不需要缓存
|
|
|
+config-refresh-interval: 60
|
|
|
+disk:
|
|
|
+ name: /dev/vdb # 磁盘名称
|
|
|
+ used: 900000000000 # 磁盘占用阈值，单位bytes
|
|
|
+ path:
|
|
|
+ - /mnt/media/sda1/cicv-data-closedloop
|
|
|
+bag-data-dir: /mnt/media/sda1/cicv-data-closedloop/data/
|
|
|
+bag-copy-dir: /mnt/media/sda1/cicv-data-closedloop/copy/
|
|
|
+time-to-label-json-path: /mnt/media/sda1/cicv-data-closedloop/timeToLabel.json
|
|
|
+triggers-dir: /mnt/media/sda1/cicv-data-closedloop/triggers/
|
|
|
+time-window-send-gap: 6
|
|
|
+tcp-port: 12340
|
|
|
+rpc-port: 12341
|
|
|
+ros:
|
|
|
+ master-address: 192.168.1.104:11311
|
|
|
+ nodes:
|
|
|
+ - /ins # 定位
|
|
|
+
|
|
|
+hosts:
|
|
|
+ - name: node1
|
|
|
+ ip: 192.168.1.104
|
|
|
+ rosbag:
|
|
|
+ path: "/opt/ros/noetic/bin/rosbag"
|
|
|
+ envs:
|
|
|
+ - "SHELL=/bin/bash"
|
|
|
+ - "ROS_VERSION=1"
|
|
|
+ - "SUDO_GID=1000"
|
|
|
+ - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig"
|
|
|
+ - "ROS_PYTHON_VERSION=3"
|
|
|
+ - "SUDO_COMMAND=/usr/bin/su"
|
|
|
+ - "SUDO_USER=pji"
|
|
|
+ - "ROS_PACKAGE_PATH=/opt/ros/noetic/share"
|
|
|
+ - "ROSLISP_PACKAGE_DIRECTORIES="
|
|
|
+ - "PWD=/mnt/media/sda1/cicv-data-closedloop/data"
|
|
|
+ - "LOGNAME=root"
|
|
|
+ - "ROS_IP=192.168.1.104"
|
|
|
+ - "HOME=/root"
|
|
|
+ - "LANG=en_US.UTF-8"
|
|
|
+ - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
|
|
|
+ - "CMAKE_PREFIX_PATH=/opt/ros/noetic"
|
|
|
+ - "LESSCLOSE=/usr/bin/lesspipe %s %s"
|
|
|
+ - "PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages"
|
|
|
+ - "USER=root"
|
|
|
+ - "LD_LIBARAY_PATH=/usr/local/lib:"
|
|
|
+ - "ROS_MASTER_URI=http://192.168.1.104:11311"
|
|
|
+ - "ROS_HOSTNAME=192.168.1.104"
|
|
|
+ - "LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:/opt/ros/noetic/lib:/home/pji/Fast-DDS/install/lib"
|
|
|
+ - "PATH=/usr/local/cuda-11.4/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin"
|
|
|
+ - "ROS_ROOT=/opt/ros/noetic/share/ros"
|
|
|
+ - "ROS_DISTRO=noetic"
|
|
|
+ - "_=/usr/bin/env"
|
|
|
+ topics:
|
|
|
+ - /fault_info
|
|
|
+ - /cam_3D # 感知
|
|
|
+ - /car_wheel
|
|
|
+ - /ch64w/rear
|
|
|
+ - /ch64w_l/lslidar_point_cloud
|
|
|
+ - /ch64w_q/lslidar_point_cloud
|
|
|
+ - /ch64w_r/lslidar_point_cloud
|
|
|
+ - /cicv/lidarfusionmovingobject
|
|
|
+ - /cicv_location
|
|
|
+ - /f_radar_objects
|
|
|
+ - /fusion/vis/box
|
|
|
+ - /fusion/vis/camera
|
|
|
+ - /fusion/vis/camera_text
|
|
|
+ - /fusion/vis/velocity
|
|
|
+ - /lidar_objects_cluster
|
|
|
+ - /lidar_objects_deeplearning
|
|
|
+ - /lidar_objects_fusion
|
|
|
+ - /lslidar_point_cloud
|
|
|
+ - /map_polygon
|
|
|
+ - /roi/polygon/rosout
|
|
|
+ - /cicv_amr_trajectory # 规划控制
|
|
|
+ - /trajectory_display
|
|
|
+ - /reference_trajectory
|
|
|
+ - /tpperception
|
|
|
+ - /tprouteplan
|
|
|
+ - /jinglong_control_pub
|
|
|
+ - /vehicle_info
|
|
|
+ - /tftrafficlight
|
|
|
+ - /DestinationLocationInfo
|
|
|
+ - /end_point_message
|
|
|
+ - /amr_pose
|
|
|
+ - /map_display
|
|
|
+ - /obstacle_display
|
|
|
+ - /reference_display
|
|
|
+ - /lidar_roi
|
|
|
+ - name: node2
|
|
|
+ ip: 192.168.1.105
|
|
|
+ rosbag:
|
|
|
+ path: "/opt/ros/melodic/bin/rosbag"
|
|
|
+ envs:
|
|
|
+ - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib"
|
|
|
+ - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
|
|
|
+ - "USER=root"
|
|
|
+ - "ROS_OS_OVERRIDE=openembedded"
|
|
|
+ - "PWD=/mnt/media/sda1/cicv-data-closedloop"
|
|
|
+ - "HOME=/home/root"
|
|
|
+ - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
|
|
|
+ - "ROS_ROOT=/opt/ros/melodic/share/ros"
|
|
|
+ - "ROS_MASTER_URI=http://192.168.1.102:11311"
|
|
|
+ - "ROS_VERSION=1"
|
|
|
+ - "ROS_PYTHON_VERSION=2"
|
|
|
+ - "ROS_IP=192.168.1.103"
|
|
|
+ - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
|
|
|
+ - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
|
|
|
+ - "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 "
|
|
|
+ - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
|
|
|
+ - "ROS_DISTRO=melodic"
|
|
|
+ topics:
|
|
|
+ - ""
|
|
|
+ - ""
|
|
|
+triggers:
|
|
|
+ - label: ""
|
|
|
+ topics:
|
|
|
+ - ""
|
|
|
+ - ""
|
