commit

aarch64/pjibot_delivery/common/config/c_cloud.go

@@ -251,38 +251,16 @@ func checkCloudConfig(check cloudConfig) bool {
 }
 
 func getSnCode() (string, error) {
-	if LocalConfig.Type == "1" {
-		var command []string
-		command = append(command, "get")
-		command = append(command, "sn")
-		_, snOutput, err := util.ExecuteSync(LocalConfig.RosparamPath, command...)
-		if err != nil {
-			return "", errors.New("执行获取sn码命令" + util.ToString(command) + "出错：" + util.ToString(err))
-		}
-		c_log.GlobalLogger.Info("执行获取sn码命令", command, "成功，结果为：", snOutput)
-		snCode := strings.Replace(strings.Replace(snOutput, " ", "", -1), "\n", "", -1)
-		return snCode, nil
-	} else if LocalConfig.Type == "2" || LocalConfig.Type == "3" {
-		// 示例使用
-		serverURL := "192.168.1.104:9002"
-		path := "/"
-		request := Request{
-			Type:      "request",
-			UUID:      "",
-			CommandID: "getRobotBaseInfo",
-			Parameter: nil,
-		}
-
-		sn, err := SendWebsocketRequest(serverURL, path, request)
-		if err != nil {
-			return "", errors.New("通过api获取sn码失败：" + util.ToString(err))
-		}
-		return sn, nil
-	} else {
-		c_log.GlobalLogger.Error("程序崩溃，未知的机器人类型【" + LocalConfig.Type + "】，请修改local-config.yaml文件")
-		os.Exit(-1)
-		return "", nil
+	var command []string
+	command = append(command, "get")
+	command = append(command, "sn")
+	_, snOutput, err := util.ExecuteSync(LocalConfig.RosparamPath, command...)
+	if err != nil {
+		return "", errors.New("执行获取sn码命令" + util.ToString(command) + "出错：" + util.ToString(err))
 	}
+	c_log.GlobalLogger.Info("执行获取sn码命令", command, "成功，结果为：", snOutput)
+	snCode := strings.Replace(strings.Replace(snOutput, " ", "", -1), "\n", "", -1)
+	return snCode, nil
 }
 
 // SendWebsocketRequest 发送WebSocket请求并返回sn字段的值

aarch64/pjibot_delivery/common/config/c_local.go

@@ -18,7 +18,6 @@ type restartCmd struct {
 }
 
 type localConfig struct {
-	Type                 string     `yaml:"type"`                    // 机器人类型（不同机器人获取sn码方式不同）
 	Node                 node       `yaml:"node"`                    // 节点信息
 	RosparamPath         string     `yaml:"rosparam-path"`           // 获取oss配置的url
 	UrlGetOssConfig      string     `yaml:"url-get-oss-config"`      // 获取oss配置的url

aarch64/pjibot_delivery/common/config/sh/start-control.sh

@@ -1,3 +1,23 @@
 #!/bin/bash
-chmod 777 /root/cicv-data-closedloop/pji-control.exe
-nohup /root/cicv-data-closedloop/pji-control.exe > /root/cicv-data-closedloop/log/pji-control.out 2>&1 &
+chmod 777 /home/pji/cicv-data-closedloop/pji-control.exe
+
+
+export C_INCLUDE_PATH=/usr/include/drm:
+export ROS_VERSION=1
+export PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/aarch64-linux-gnu/pkgconfig
+export ROS_PYTHON_VERSION=3
+export ROS_PACKAGE_PATH=/opt/ros/noetic/share
+export ROSLISP_PACKAGE_DIRECTORIES=
+export LOGNAME=pji
+export XDG_SESSION_TYPE=tty
+export ROS_ETC_DIR=/opt/ros/noetic/etc/ros
+export CMAKE_PREFIX_PATH=/opt/ros/noetic
+export PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages
+export USER=pji
+export ROS_MASTER_URI=http://192.168.1.104:11311
+export ROS_HOSTNAME=192.168.1.104
+export LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu
+export ROS_ROOT=/opt/ros/noetic/share/ros
+export ROS_DISTRO=noetic
+
+nohup /home/pji/cicv-data-closedloop/pji-control.exe > /home/pji/cicv-data-closedloop/log/pji-control.out 2>&1 &

aarch64/pjibot_delivery/common/config/sh/start-master.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
-chmod 777 /root/cicv-data-closedloop/pji-master.exe
-nohup /root/cicv-data-closedloop/pji-master.exe > /root/cicv-data-closedloop/log/pji-master.out 2>&1 &
+chmod 777 /home/pji/cicv-data-closedloop/pji-master.exe
+nohup /home/pji/cicv-data-closedloop/pji-master.exe > /home/pji/cicv-data-closedloop/log/pji-master.out 2>&1 &

aarch64/pjibot_delivery/common/config/yaml/配送机器人默认配置文件-cloud-config.yaml

@@ -11,71 +11,71 @@ config-refresh-interval: 60
 disk:
   name: /dev/sda1 # 磁盘名称
   used: 60000000000 # 磁盘占用阈值，单位bytes
-map-bag-path: /root/cicv-data-closedloop/map.bag
-tfstatic-bag-path: /root/cicv-data-closedloop/tf_static.bag
-costmap-bag-path: /root/cicv-data-closedloop/costmap.bag
-bag-data-dir: /root/cicv-data-closedloop/data/
-bag-copy-dir: /root/cicv-data-closedloop/copy/
-triggers-dir: /root/cicv-data-closedloop/triggers/
+map-bag-path: /home/pji/cicv-data-closedloop/map.bag
+tfstatic-bag-path: /home/pji/cicv-data-closedloop/tf_static.bag
+costmap-bag-path: /home/pji/cicv-data-closedloop/costmap.bag
+bag-data-dir: /home/pji/cicv-data-closedloop/data/
+bag-copy-dir: /home/pji/cicv-data-closedloop/copy/
+triggers-dir: /home/pji/cicv-data-closedloop/triggers/
 time-window-send-gap: 6
 rpc-port: 12341
 ros:
   master-address: 192.168.1.104:11311
   nodes:
-    - /amcl
-    - /ob_camera_01/camera
-    - /ob_camera_02/camera
-    - /node_diagnostics
-    - /localization_monitor_node
-    - /move_base
-    - /sensor_fusion_node
-    - /ltme_node
-    - /scan_map_icp_amcl_node
-    - /monitor
+    - /location_realtime
+    - /cloud_to_map_node
+    - /tracking/imm_ukf_pda_track
+    - /task_decision
+    - /trajectorygenerator
+    - /trajectoryevaluator
+    - /trii_receive
+    - /wheel_odom
+    - /lanelet_routing_node
+    - /purepursuit
+    - /auto_dock
+    - /engine
+    - /trii_receive
+    - /lidar_euclidean_cluster_detect
 
 hosts:
   - name: node1
     ip: 192.168.1.104
     rosbag:
-      path: "/opt/ros/melodic/bin/rosbag"
+      path: "/opt/ros/noetic/bin/rosbag"
       envs:
-        - "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"
+        - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/aarch64-linux-gnu/pkgconfig"
+        - "ROS_PYTHON_VERSION=3"
+        - "ROS_PACKAGE_PATH=/opt/ros/noetic/share"
         - "ROSLISP_PACKAGE_DIRECTORIES="
+        - "LOGNAME=pji"
+        - "XDG_SESSION_TYPE=tty"
+        - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
+        - "CMAKE_PREFIX_PATH=/opt/ros/noetic"
+        - "PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages"
+        - "USER=pji"
         - "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"
+        - "LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu"
+        - "ROS_ROOT=/opt/ros/noetic/share/ros"
+        - "ROS_DISTRO=noetic"
     topics:
-      - /robot_pose
-      - /robot/realtime_cost_map_
-      - /tracking/objects
-      - /robot/TaskInfo
-      - /robot/targetposition
-      - /wheel
-      - /wheel_odom
-      - /robot/global_trajectory_
-      - /robot/target_trajectories
-      - /robot/evaluator_trajectories
-      - /robot/final_trajectory
-      - /nav/task_feedback_info
-      - /cmd_vel
-      - /imu
-      - /points_cluster
-      - /nav/task_feedback_info
+      - /robot_pose # /location_realtime
+      - /robot/realtime_cost_map_ # /cloud_to_map_node
+      - /tracking/objects # /tracking/imm_ukf_pda_track
+      - /robot/TaskInfo # /task_decision
+      - /robot/targetposition # /task_decision、/trajectorygenerator
+      - /wheel # /trii_receive
+      - /wheel_odom # /wheel_odom
+      - /robot/global_trajectory_ # /lanelet_routing_node
+      - /robot/target_trajectories # /trajectorygenerator
+      - /robot/evaluator_trajectories # /trajectoryevaluator
+      - /robot/final_trajectory # /trajectoryevaluator
+      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
+      - /cmd_vel # /purepursuit、/auto_dock、/engine
+      - /imu # /trii_receive
+      - /points_cluster # /lidar_euclidean_cluster_detect
+      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
 
 
 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

aarch64/pjibot_delivery/common/config/yaml/配送机器人默认配置文件-local-config.yaml

@@ -1,8 +1,7 @@
-type: 2 # 机器人类型 1 引导机器人 2 配送机器人 3 巡检机器人
 node:
   name: node1
   ip: 192.168.1.104
-rosparam-path: /opt/ros/melodic/bin/rosparam
+rosparam-path: /opt/ros/noetic/bin/rosparam
 # 获取oss连接信息的接口url
 #url-get-oss-config: http://36.110.106.156:18379/oss/config?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 国汽数据闭环
 url-get-oss-config: http://36.110.106.156:18379/oss/pji?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 朴津数据闭环
@@ -11,9 +10,9 @@ oss-base-prefix: pjibot-delivery/
 # oss上的配置文件的名称
 cloud-config-filename: cloud-config.yaml
 # 将oss上的配置文件下载到本地的路径
-cloud-config-local-path: /root/cicv-data-closedloop/config/cloud-config.yaml
+cloud-config-local-path: /home/pji/cicv-data-closedloop/config/cloud-config.yaml
 restart-cmd:
-  dir: "/root/cicv-data-closedloop/"
+  dir: "/home/pji/cicv-data-closedloop/"
   name: "sh"
   args:
     - "start-master.sh"

aarch64/pjibot_guide/common/config/c_cloud.go

@@ -251,38 +251,16 @@ func checkCloudConfig(check cloudConfig) bool {
 }
 
 func getSnCode() (string, error) {
-	if LocalConfig.Type == "1" {
-		var command []string
-		command = append(command, "get")
-		command = append(command, "sn")
-		_, snOutput, err := util.ExecuteSync(LocalConfig.RosparamPath, command...)
-		if err != nil {
-			return "", errors.New("执行获取sn码命令" + util.ToString(command) + "出错：" + util.ToString(err))
-		}
-		c_log.GlobalLogger.Info("执行获取sn码命令", command, "成功，结果为：", snOutput)
-		snCode := strings.Replace(strings.Replace(snOutput, " ", "", -1), "\n", "", -1)
-		return snCode, nil
-	} else if LocalConfig.Type == "2" || LocalConfig.Type == "3" {
-		// 示例使用
-		serverURL := "192.168.1.104:9002"
-		path := "/"
-		request := Request{
-			Type:      "request",
-			UUID:      "",
-			CommandID: "getRobotBaseInfo",
-			Parameter: nil,
-		}
-
-		sn, err := SendWebsocketRequest(serverURL, path, request)
-		if err != nil {
-			return "", errors.New("通过api获取sn码失败：" + util.ToString(err))
-		}
-		return sn, nil
-	} else {
-		c_log.GlobalLogger.Error("程序崩溃，未知的机器人类型【" + LocalConfig.Type + "】，请修改local-config.yaml文件")
-		os.Exit(-1)
-		return "", nil
+	var command []string
+	command = append(command, "get")
+	command = append(command, "sn")
+	_, snOutput, err := util.ExecuteSync(LocalConfig.RosparamPath, command...)
+	if err != nil {
+		return "", errors.New("执行获取sn码命令" + util.ToString(command) + "出错：" + util.ToString(err))
 	}
+	c_log.GlobalLogger.Info("执行获取sn码命令", command, "成功，结果为：", snOutput)
+	snCode := strings.Replace(strings.Replace(snOutput, " ", "", -1), "\n", "", -1)
+	return snCode, nil
 }
 
 // SendWebsocketRequest 发送WebSocket请求并返回sn字段的值

aarch64/pjibot_guide/common/config/c_local.go

@@ -18,7 +18,6 @@ type restartCmd struct {
 }
 
 type localConfig struct {
-	Type                 string     `yaml:"type"`                    // 机器人类型（不同机器人获取sn码方式不同）
 	Node                 node       `yaml:"node"`                    // 节点信息
 	RosparamPath         string     `yaml:"rosparam-path"`           // 获取oss配置的url
 	UrlGetOssConfig      string     `yaml:"url-get-oss-config"`      // 获取oss配置的url

aarch64/pjibot_guide/common/config/yaml/巡检机器人默认配置文件-cloud-config.yaml

@@ -1,159 +0,0 @@
----
-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
-
-bag-number: 60
-config-refresh-interval: 60
-disk:
-  name: /dev/nvme0n1p1 # 磁盘名称
-  used: 50000000000 # 磁盘占用阈值，单位bytes
-map-bag-path: /root/cicv-data-closedloop/map.bag
-tfstatic-bag-path: /root/cicv-data-closedloop/tf_static.bag
-costmap-bag-path: /root/cicv-data-closedloop/costmap.bag
-bag-data-dir: /root/cicv-data-closedloop/data/
-bag-copy-dir: /root/cicv-data-closedloop/copy/
-triggers-dir: /root/cicv-data-closedloop/triggers/
-time-window-send-gap: 6
-rpc-port: 12341
-ros:
-  master-address: 192.168.1.104:11311
-  nodes:
-    - /amcl
-    - /ob_camera_01/camera
-    - /ob_camera_02/camera
-    - /node_diagnostics
-    - /localization_monitor_node
-    - /move_base
-    - /sensor_fusion_node
-    - /ltme_node
-    - /scan_map_icp_amcl_node
-    - /monitor
-
-hosts:
-  - name: node1
-    ip: 192.168.1.104
-    rosbag:
-      path: "/opt/ros/melodic/bin/rosbag"
-      envs:
-        - "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"
-    topics:
-      - /robot_pose
-      - /robot/realtime_cost_map_
-      - /tracking/objects
-      - /robot/TaskInfo
-      - /robot/targetposition
-      - /wheel
-      - /wheel_odom
-      - /robot/global_trajectory_
-      - /robot/target_trajectories
-      - /robot/evaluator_trajectories
-      - /robot/final_trajectory
-      - /nav/task_feedback_info
-      - /cmd_vel
-      - /imu
-      - /points_cluster
-      - /nav/task_feedback_info
-
-
-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
-triggers:
-  - label: detectfault
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: unstabledriving
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: locationfailed
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: obstacledetection
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: overspeed
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: cpuoveroccupied
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: memoveroccupied
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed

aarch64/pjibot_guide/common/config/yaml/巡检机器人默认配置文件-local-config.yaml

@@ -1,19 +0,0 @@
-type: 3 # 机器人类型 1 引导机器人 2 配送机器人 3 巡检机器人
-node:
-  name: node1
-  ip: 192.168.1.104
-rosparam-path: /opt/ros/melodic/bin/rosparam
-# 获取oss连接信息的接口url
-#url-get-oss-config: http://36.110.106.156:18379/oss/config?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 国汽数据闭环
-url-get-oss-config: http://36.110.106.156:18379/oss/pji?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 朴津数据闭环
-# 朴津机器人数据前缀
-oss-base-prefix: pjibot-patrol/
-# oss上的配置文件的名称
-cloud-config-filename: cloud-config.yaml
-# 将oss上的配置文件下载到本地的路径
-cloud-config-local-path: /root/cicv-data-closedloop/config/cloud-config.yaml
-restart-cmd:
-  dir: "/root/cicv-data-closedloop/"
-  name: "sh"
-  args:
-    - "start-master.sh"

aarch64/pjibot_guide/common/config/yaml/配送机器人默认配置文件-cloud-config.yaml

@@ -1,159 +0,0 @@
----
-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
-
-bag-number: 60
-config-refresh-interval: 60
-disk:
-  name: /dev/sda1 # 磁盘名称
-  used: 60000000000 # 磁盘占用阈值，单位bytes
-map-bag-path: /root/cicv-data-closedloop/map.bag
-tfstatic-bag-path: /root/cicv-data-closedloop/tf_static.bag
-costmap-bag-path: /root/cicv-data-closedloop/costmap.bag
-bag-data-dir: /root/cicv-data-closedloop/data/
-bag-copy-dir: /root/cicv-data-closedloop/copy/
-triggers-dir: /root/cicv-data-closedloop/triggers/
-time-window-send-gap: 6
-rpc-port: 12341
-ros:
-  master-address: 192.168.1.104:11311
-  nodes:
-    - /amcl
-    - /ob_camera_01/camera
-    - /ob_camera_02/camera
-    - /node_diagnostics
-    - /localization_monitor_node
-    - /move_base
-    - /sensor_fusion_node
-    - /ltme_node
-    - /scan_map_icp_amcl_node
-    - /monitor
-
-hosts:
-  - name: node1
-    ip: 192.168.1.104
-    rosbag:
-      path: "/opt/ros/melodic/bin/rosbag"
-      envs:
-        - "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"
-    topics:
-      - /robot_pose
-      - /robot/realtime_cost_map_
-      - /tracking/objects
-      - /robot/TaskInfo
-      - /robot/targetposition
-      - /wheel
-      - /wheel_odom
-      - /robot/global_trajectory_
-      - /robot/target_trajectories
-      - /robot/evaluator_trajectories
-      - /robot/final_trajectory
-      - /nav/task_feedback_info
-      - /cmd_vel
-      - /imu
-      - /points_cluster
-      - /nav/task_feedback_info
-
-
-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
-triggers:
-  - label: detectfault
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: unstabledriving
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: locationfailed
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: obstacledetection
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: overspeed
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: cpuoveroccupied
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed
-  - label: memoveroccupied
-    topics:
-      - /camera/color/image_raw
-      - /camera/depth/points
-      - /diagnostics
-      - /locate_info
-      - /obstacle_detection
-      - /odom
-      - /move_base/global_costmap/costmap
-      - /move_base/global_costmap/costmap_updates
-      - /scan_map_icp_amcl_node/scan_point_transformed

aarch64/pjibot_guide/common/config/yaml/配送机器人默认配置文件-local-config.yaml

@@ -1,19 +0,0 @@
-type: 2 # 机器人类型 1 引导机器人 2 配送机器人 3 巡检机器人
-node:
-  name: node1
-  ip: 192.168.1.104
-rosparam-path: /opt/ros/melodic/bin/rosparam
-# 获取oss连接信息的接口url
-#url-get-oss-config: http://36.110.106.156:18379/oss/config?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 国汽数据闭环
-url-get-oss-config: http://36.110.106.156:18379/oss/pji?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 朴津数据闭环
-# 朴津机器人数据前缀
-oss-base-prefix: pjibot-delivery/
-# oss上的配置文件的名称
-cloud-config-filename: cloud-config.yaml
-# 将oss上的配置文件下载到本地的路径
-cloud-config-local-path: /root/cicv-data-closedloop/config/cloud-config.yaml
-restart-cmd:
-  dir: "/root/cicv-data-closedloop/"
-  name: "sh"
-  args:
-    - "start-master.sh"

aarch64/pjibot_patrol/common/config/c_cloud.go

@@ -251,38 +251,16 @@ func checkCloudConfig(check cloudConfig) bool {
 }
 
 func getSnCode() (string, error) {
-	if LocalConfig.Type == "1" {
-		var command []string
-		command = append(command, "get")
-		command = append(command, "sn")
-		_, snOutput, err := util.ExecuteSync(LocalConfig.RosparamPath, command...)
-		if err != nil {
-			return "", errors.New("执行获取sn码命令" + util.ToString(command) + "出错：" + util.ToString(err))
-		}
-		c_log.GlobalLogger.Info("执行获取sn码命令", command, "成功，结果为：", snOutput)
-		snCode := strings.Replace(strings.Replace(snOutput, " ", "", -1), "\n", "", -1)
-		return snCode, nil
-	} else if LocalConfig.Type == "2" || LocalConfig.Type == "3" {
-		// 示例使用
-		serverURL := "192.168.1.104:9002"
-		path := "/"
-		request := Request{
-			Type:      "request",
-			UUID:      "",
-			CommandID: "getRobotBaseInfo",
-			Parameter: nil,
-		}
-
-		sn, err := SendWebsocketRequest(serverURL, path, request)
-		if err != nil {
-			return "", errors.New("通过api获取sn码失败：" + util.ToString(err))
-		}
-		return sn, nil
-	} else {
-		c_log.GlobalLogger.Error("程序崩溃，未知的机器人类型【" + LocalConfig.Type + "】，请修改local-config.yaml文件")
-		os.Exit(-1)
-		return "", nil
+	var command []string
+	command = append(command, "get")
+	command = append(command, "sn")
+	_, snOutput, err := util.ExecuteSync(LocalConfig.RosparamPath, command...)
+	if err != nil {
+		return "", errors.New("执行获取sn码命令" + util.ToString(command) + "出错：" + util.ToString(err))
 	}
+	c_log.GlobalLogger.Info("执行获取sn码命令", command, "成功，结果为：", snOutput)
+	snCode := strings.Replace(strings.Replace(snOutput, " ", "", -1), "\n", "", -1)
+	return snCode, nil
 }
 
 // SendWebsocketRequest 发送WebSocket请求并返回sn字段的值

aarch64/pjibot_patrol/common/config/c_local.go

@@ -18,7 +18,6 @@ type restartCmd struct {
 }
 
 type localConfig struct {
-	Type                 string     `yaml:"type"`                    // 机器人类型（不同机器人获取sn码方式不同）
 	Node                 node       `yaml:"node"`                    // 节点信息
 	RosparamPath         string     `yaml:"rosparam-path"`           // 获取oss配置的url
 	UrlGetOssConfig      string     `yaml:"url-get-oss-config"`      // 获取oss配置的url

aarch64/pjibot_patrol/common/config/sh/start-control.sh

@@ -1,3 +1,23 @@
 #!/bin/bash
-chmod 777 /root/cicv-data-closedloop/pji-control.exe
-nohup /root/cicv-data-closedloop/pji-control.exe > /root/cicv-data-closedloop/log/pji-control.out 2>&1 &
+chmod 777 /home/pji/cicv-data-closedloop/pji-control.exe
+
+
+export C_INCLUDE_PATH=/usr/include/drm:
+export ROS_VERSION=1
+export PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/aarch64-linux-gnu/pkgconfig
+export ROS_PYTHON_VERSION=3
+export ROS_PACKAGE_PATH=/opt/ros/noetic/share
+export ROSLISP_PACKAGE_DIRECTORIES=
+export LOGNAME=pji
+export XDG_SESSION_TYPE=tty
+export ROS_ETC_DIR=/opt/ros/noetic/etc/ros
+export CMAKE_PREFIX_PATH=/opt/ros/noetic
+export PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages
+export USER=pji
+export ROS_MASTER_URI=http://192.168.1.104:11311
+export ROS_HOSTNAME=192.168.1.104
+export LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu
+export ROS_ROOT=/opt/ros/noetic/share/ros
+export ROS_DISTRO=noetic
+
+nohup /home/pji/cicv-data-closedloop/pji-control.exe > /home/pji/cicv-data-closedloop/log/pji-control.out 2>&1 &

aarch64/pjibot_patrol/common/config/sh/start-master.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
-chmod 777 /root/cicv-data-closedloop/pji-master.exe
-nohup /root/cicv-data-closedloop/pji-master.exe > /root/cicv-data-closedloop/log/pji-master.out 2>&1 &
+chmod 777 /home/pji/cicv-data-closedloop/pji-master.exe
+nohup /home/pji/cicv-data-closedloop/pji-master.exe > /home/pji/cicv-data-closedloop/log/pji-master.out 2>&1 &

aarch64/pjibot_patrol/common/config/yaml/巡检机器人默认配置文件-cloud-config.yaml

@@ -10,72 +10,72 @@ bag-number: 60
 config-refresh-interval: 60
 disk:
   name: /dev/nvme0n1p1 # 磁盘名称
-  used: 50000000000 # 磁盘占用阈值，单位bytes
-map-bag-path: /root/cicv-data-closedloop/map.bag
-tfstatic-bag-path: /root/cicv-data-closedloop/tf_static.bag
-costmap-bag-path: /root/cicv-data-closedloop/costmap.bag
-bag-data-dir: /root/cicv-data-closedloop/data/
-bag-copy-dir: /root/cicv-data-closedloop/copy/
-triggers-dir: /root/cicv-data-closedloop/triggers/
+  used: 100000000000 # 100G 磁盘占用阈值，单位bytes
+map-bag-path: /home/pji/cicv-data-closedloop/map.bag
+tfstatic-bag-path: /home/pji/cicv-data-closedloop/tf_static.bag
+costmap-bag-path: /home/pji/cicv-data-closedloop/costmap.bag
+bag-data-dir: /home/pji/cicv-data-closedloop/data/
+bag-copy-dir: /home/pji/cicv-data-closedloop/copy/
+triggers-dir: /home/pji/cicv-data-closedloop/triggers/
 time-window-send-gap: 6
 rpc-port: 12341
 ros:
   master-address: 192.168.1.104:11311
   nodes:
-    - /amcl
-    - /ob_camera_01/camera
-    - /ob_camera_02/camera
-    - /node_diagnostics
-    - /localization_monitor_node
-    - /move_base
-    - /sensor_fusion_node
-    - /ltme_node
-    - /scan_map_icp_amcl_node
-    - /monitor
+    - /location_realtime
+    - /cloud_to_map_node
+    - /tracking/imm_ukf_pda_track
+    - /task_decision
+    - /trajectorygenerator
+    - /trajectoryevaluator
+    - /trii_receive
+    - /wheel_odom
+    - /lanelet_routing_node
+    - /purepursuit
+    - /auto_dock
+    - /engine
+    - /trii_receive
+    - /lidar_euclidean_cluster_detect
 
 hosts:
   - name: node1
     ip: 192.168.1.104
     rosbag:
-      path: "/opt/ros/melodic/bin/rosbag"
+      path: "/opt/ros/noetic/bin/rosbag"
       envs:
-        - "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"
+        - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/aarch64-linux-gnu/pkgconfig"
+        - "ROS_PYTHON_VERSION=3"
+        - "ROS_PACKAGE_PATH=/opt/ros/noetic/share"
         - "ROSLISP_PACKAGE_DIRECTORIES="
+        - "LOGNAME=pji"
+        - "XDG_SESSION_TYPE=tty"
+        - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
+        - "CMAKE_PREFIX_PATH=/opt/ros/noetic"
+        - "PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages"
+        - "USER=pji"
         - "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"
+        - "LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu"
+        - "ROS_ROOT=/opt/ros/noetic/share/ros"
+        - "ROS_DISTRO=noetic"
     topics:
-      - /robot_pose
-      - /robot/realtime_cost_map_
-      - /tracking/objects
-      - /robot/TaskInfo
-      - /robot/targetposition
-      - /wheel
-      - /wheel_odom
-      - /robot/global_trajectory_
-      - /robot/target_trajectories
-      - /robot/evaluator_trajectories
-      - /robot/final_trajectory
-      - /nav/task_feedback_info
-      - /cmd_vel
-      - /imu
-      - /points_cluster
-      - /nav/task_feedback_info
+      - /robot_pose # /location_realtime
+      - /robot/realtime_cost_map_ # /cloud_to_map_node
+      - /tracking/objects # /tracking/imm_ukf_pda_track
+      - /robot/TaskInfo # /task_decision
+      - /robot/targetposition # /task_decision、/trajectorygenerator
+      - /wheel # /trii_receive
+      - /wheel_odom # /wheel_odom
+      - /robot/global_trajectory_ # /lanelet_routing_node
+      - /robot/target_trajectories # /trajectorygenerator
+      - /robot/evaluator_trajectories # /trajectoryevaluator
+      - /robot/final_trajectory # /trajectoryevaluator
+      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
+      - /cmd_vel # /purepursuit、/auto_dock、/engine
+      - /imu # /trii_receive
+      - /points_cluster # /lidar_euclidean_cluster_detect
+      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
 
 
 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

aarch64/pjibot_patrol/common/config/yaml/巡检机器人默认配置文件-local-config.yaml

@@ -2,7 +2,7 @@ type: 3 # 机器人类型 1 引导机器人 2 配送机器人 3 巡检机器人
 node:
   name: node1
   ip: 192.168.1.104
-rosparam-path: /opt/ros/melodic/bin/rosparam
+rosparam-path: /opt/ros/noetic/bin/rosparam
 # 获取oss连接信息的接口url
 #url-get-oss-config: http://36.110.106.156:18379/oss/config?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 国汽数据闭环
 url-get-oss-config: http://36.110.106.156:18379/oss/pji?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD # 朴津数据闭环
@@ -11,9 +11,9 @@ oss-base-prefix: pjibot-patrol/
 # oss上的配置文件的名称
 cloud-config-filename: cloud-config.yaml
 # 将oss上的配置文件下载到本地的路径
-cloud-config-local-path: /root/cicv-data-closedloop/config/cloud-config.yaml
+cloud-config-local-path: /home/pji/cicv-data-closedloop/config/cloud-config.yaml
 restart-cmd:
-  dir: "/root/cicv-data-closedloop/"
+  dir: "/home/pji/cicv-data-closedloop/"
   name: "sh"
   args:
     - "start-master.sh"