commit

aarch64/pjibot_clean/master/package/config/rules101~284.txt

@@ -0,0 +1,184 @@
+Rule101 []func(data *nav_msgs.Path) string
+Rule102 []func(data *geometry_msgs.PoseStamped) string
+Rule103 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+Rule104 []func(data *geometry_msgs.Pose) string
+Rule105 []func(data *std_msgs.String) string
+Rule106 []func(data *std_msgs.String) string
+Rule107 []func(data *std_msgs.String) string
+Rule108 []func(data *std_msgs.String) string
+Rule109 []func(data *std_msgs.Float64) string
+Rule110 []func(data *std_msgs.String) string
+Rule111 []func(data *std_msgs.String) string
+Rule112 []func(data *sensor_msgs.Imu) string
+Rule113 []func(data *std_msgs.String) string
+Rule114 []func(data *std_msgs.Int8) string
+Rule115 []func(data *std_msgs.Int16) string
+Rule116 []func(data *std_msgs.String) string
+Rule117 []func(data *std_msgs.String) string
+Rule118 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+Rule119 []func(data *sensor_msgs.JointState) string
+Rule120 []func(data *std_msgs.String) string
+Rule121 []func(data *cartographer_ros_msgs.LandmarkList) string
+Rule122 []func(data *nav_msgs.Odometry) string
+Rule123 []func(data *sensor_msgs.LaserScan) string
+Rule124 []func(data *std_msgs.String) string
+Rule125 []func(data *nav_msgs.Path) string
+Rule126 []func(data *std_msgs.String) string
+Rule127 []func(data *std_msgs.String) string
+Rule128 []func(data *std_msgs.String) string
+Rule129 []func(data *std_msgs.String) string
+Rule130 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+Rule131 []func(data *std_msgs.String) string
+Rule132 []func(data *std_msgs.String) string
+Rule133 []func(data *common_msgs.LocateInfo) string
+Rule134 []func(data *std_msgs.Bool) string
+Rule135 []func(data *std_msgs.Float64MultiArray) string
+Rule136 []func(data *std_msgs.String) string
+Rule137 []func(data *std_msgs.String) string
+Rule138 []func(data *nav_msgs.OccupancyGrid) string
+Rule139 []func(data *std_msgs.String) string
+Rule140 []func(data *nav_msgs.Path) string
+Rule141 []func(data *std_msgs.String) string
+Rule142 []func(data *std_msgs.String) string
+Rule143 []func(data *nav_msgs.MapMetaData) string
+Rule144 []func(data *nav_msgs.Path) string
+Rule145 []func(data *geometry_msgs.PoseStamped) string
+Rule146 []func(data *nav_msgs.OccupancyGrid) string
+Rule147 []func(data *nav_msgs.OccupancyGrid) string
+Rule148 []func(data *std_msgs.String) string
+Rule149 []func(data *std_msgs.String) string
+Rule150 []func(data *std_msgs.String) string
+Rule151 []func(data *std_msgs.String) string
+Rule152 []func(data *std_msgs.Bool) string
+Rule153 []func(data *sensor_msgs.CameraInfo) string
+Rule154 []func(data *sensor_msgs.Image) string
+Rule155 []func(data *sensor_msgs.CompressedImage) string
+Rule156 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule157 []func(data *dynamic_reconfigure.Config) string
+Rule158 []func(data *sensor_msgs.CompressedImage) string
+Rule159 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule160 []func(data *dynamic_reconfigure.Config) string
+Rule161 []func(data *theora_image_transport.Packet) string
+Rule162 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule163 []func(data *dynamic_reconfigure.Config) string
+Rule164 []func(data *sensor_msgs.CameraInfo) string
+Rule165 []func(data *sensor_msgs.Image) string
+Rule166 []func(data *sensor_msgs.CompressedImage) string
+Rule167 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule168 []func(data *dynamic_reconfigure.Config) string
+Rule169 []func(data *sensor_msgs.CompressedImage) string
+Rule170 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule171 []func(data *dynamic_reconfigure.Config) string
+Rule172 []func(data *theora_image_transport.Packet) string
+Rule173 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule174 []func(data *dynamic_reconfigure.Config) string
+Rule175 []func(data *sensor_msgs.PointCloud2) string
+Rule176 []func(data *sensor_msgs.CameraInfo) string
+Rule177 []func(data *sensor_msgs.Image) string
+Rule178 []func(data *sensor_msgs.CompressedImage) string
+Rule179 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule180 []func(data *dynamic_reconfigure.Config) string
+Rule181 []func(data *sensor_msgs.CompressedImage) string
+Rule182 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule183 []func(data *dynamic_reconfigure.Config) string
+Rule184 []func(data *theora_image_transport.Packet) string
+Rule185 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule186 []func(data *dynamic_reconfigure.Config) string
+Rule187 []func(data *sensor_msgs.CameraInfo) string
+Rule188 []func(data *sensor_msgs.Image) string
+Rule189 []func(data *sensor_msgs.CompressedImage) string
+Rule190 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule191 []func(data *dynamic_reconfigure.Config) string
+Rule192 []func(data *sensor_msgs.CompressedImage) string
+Rule193 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule194 []func(data *dynamic_reconfigure.Config) string
+Rule195 []func(data *theora_image_transport.Packet) string
+Rule196 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule197 []func(data *dynamic_reconfigure.Config) string
+Rule198 []func(data *sensor_msgs.PointCloud2) string
+Rule199 []func(data *geometry_msgs.PoseStamped) string
+Rule200 []func(data *geometry_msgs.PoseStamped) string
+Rule201 []func(data *std_msgs.UInt8) string
+Rule202 []func(data *nav_msgs.Odometry) string
+Rule203 []func(data *std_msgs.String) string
+Rule204 []func(data *std_msgs.String) string
+Rule205 []func(data *nav_msgs.Odometry) string
+Rule206 []func(data *sensor_msgs.Imu) string
+Rule207 []func(data *sensor_msgs.PointCloud2) string
+Rule208 []func(data *geometry_msgs.PoseArray) string
+Rule209 []func(data *sensor_msgs.PointCloud2) string
+Rule210 []func(data *sensor_msgs.LaserScan) string
+Rule211 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+Rule212 []func(data *geometry_msgs.Vector3Stamped) string
+Rule213 []func(data *std_msgs.String) string
+Rule214 []func(data *common_msgs.FunctionAreas) string
+Rule215 []func(data *std_msgs.Bool) string
+Rule216 []func(data *nav_msgs.Path) string
+Rule217 []func(data *std_msgs.Float64MultiArray) string
+Rule218 []func(data *std_msgs.String) string
+Rule219 []func(data *std_msgs.String) string
+Rule220 []func(data *std_msgs.String) string
+Rule221 []func(data *geometry_msgs.PoseStamped) string
+Rule222 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+Rule223 []func(data *std_msgs.String) string
+Rule224 []func(data *std_msgs.String) string
+Rule225 []func(data *localization_monitor.RobotStatus) string
+Rule226 []func(data *std_msgs.Float64MultiArray) string
+Rule227 []func(data *std_msgs.String) string
+Rule228 []func(data *actionlib_msgs.GoalID) string
+Rule229 []func(data *ipa_building_msgs.MapSegmentationActionFeedback) string
+Rule230 []func(data *ipa_building_msgs.MapSegmentationActionGoal) string
+Rule231 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule232 []func(data *dynamic_reconfigure.Config) string
+Rule233 []func(data *ipa_building_msgs.MapSegmentationActionResult) string
+Rule234 []func(data *nav_msgs.OccupancyGrid) string
+Rule235 []func(data *actionlib_msgs.GoalStatusArray) string
+Rule236 []func(data *rosgraph_msgs.Log) string
+Rule237 []func(data *rosgraph_msgs.Log) string
+Rule238 []func(data *nav_msgs.Path) string
+Rule239 []func(data *geometry_msgs.Vector3Stamped) string
+Rule240 []func(data *sensor_msgs.LaserScan) string
+Rule241 []func(data *sensor_msgs.LaserScan) string
+Rule242 []func(data *sensor_msgs.LaserScan) string
+Rule243 []func(data *sensor_msgs.LaserScan) string
+Rule244 []func(data *sensor_msgs.LaserScan) string
+Rule245 []func(data *sensor_msgs.PointCloud2) string
+Rule246 []func(data *sensor_msgs.PointCloud2) string
+Rule247 []func(data *visualization_msgs.MarkerArray) string
+Rule248 []func(data *common_msgs.SensorTask) string
+Rule249 []func(data *std_msgs.String) string
+Rule250 []func(data *geometry_msgs.Vector3Stamped) string
+Rule251 []func(data *common_msgs.SonarList) string
+Rule252 []func(data *nav_msgs.Odometry) string
+Rule253 []func(data *sensor_msgs.LaserScan) string
+Rule254 []func(data *std_msgs.Bool) string
+Rule255 []func(data *sensor_msgs.LaserScan) string
+Rule256 []func(data *std_msgs.String) string
+Rule257 []func(data *std_msgs.Bool) string
+Rule258 []func(data *sensor_msgs.CameraInfo) string
+Rule259 []func(data *common_msgs.SysInfo) string
+Rule260 []func(data *sensor_msgs.Image) string
+Rule261 []func(data *sensor_msgs.CompressedImage) string
+Rule262 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule263 []func(data *dynamic_reconfigure.Config) string
+Rule264 []func(data *sensor_msgs.CompressedImage) string
+Rule265 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule266 []func(data *dynamic_reconfigure.Config) string
+Rule267 []func(data *theora_image_transport.Packet) string
+Rule268 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule269 []func(data *dynamic_reconfigure.Config) string
+Rule270 []func(data *std_msgs.Bool) string
+Rule271 []func(data *geometry_msgs.PoseStamped) string
+Rule272 []func(data *geometry_msgs.Vector3Stamped) string
+Rule273 []func(data *common_msgs.TaskFeedbackInfo) string
+Rule274 []func(data *common_msgs.Points) string
+Rule275 []func(data *tf2_msgs.TFMessage) string
+Rule276 []func(data *std_msgs.String) string
+Rule277 []func(data *tf2_msgs.TFMessage) string
+Rule278 []func(data *nav_msgs.Path) string
+Rule279 []func(data *common_msgs.UpLoadFileList) string
+Rule280 []func(data *sensor_msgs.Range) string
+Rule281 []func(data *sensor_msgs.LaserScan) string
+Rule282 []func(data *sensor_msgs.LaserScan) string
+Rule283 []func(data *sensor_msgs.LaserScan) string
+Rule284 []func(data *sensor_msgs.LaserScan) string

aarch64/pjibot_clean/master/package/config/rules1~100.txt

@@ -0,0 +1,284 @@
+Rule1   []func(data *std_msgs.Int16MultiArray) string
+Rule2   []func(data *geometry_msgs.PoseStamped) string
+Rule3   []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule4   []func(data *dynamic_reconfigure.Config) string
+Rule5   []func(data *std_msgs.String) string
+Rule6   []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+Rule7   []func(data *std_msgs.String) string
+Rule8   []func(data *std_msgs.String) string
+Rule9   []func(data *std_msgs.Bool) string
+Rule10  []func(data *std_msgs.Int8) string
+Rule11  []func(data *std_msgs.Int8) string
+Rule12  []func(data *sensor_msgs.PointCloud2) string
+Rule13  []func(data *sensor_msgs.BatteryState) string
+Rule14  []func(data *std_msgs.Int16) string
+Rule15  []func(data *visualization_msgs.Marker) string
+Rule16  []func(data *std_msgs.String) string
+Rule17  []func(data *sensor_msgs.CameraInfo) string
+Rule18  []func(data *sensor_msgs.Image) string
+Rule19  []func(data *sensor_msgs.CompressedImage) string
+Rule20  []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule21  []func(data *dynamic_reconfigure.Config) string
+Rule22  []func(data *sensor_msgs.CompressedImage) string
+Rule23  []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule24  []func(data *dynamic_reconfigure.Config) string
+Rule25  []func(data *theora_image_transport.Packet) string
+Rule26  []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule27  []func(data *dynamic_reconfigure.Config) string
+Rule28  []func(data *sensor_msgs.PointCloud2) string
+Rule29  []func(data *sensor_msgs.CameraInfo) string
+Rule30  []func(data *sensor_msgs.Image) string
+Rule31  []func(data *sensor_msgs.CompressedImage) string
+Rule32  []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule33  []func(data *dynamic_reconfigure.Config) string
+Rule34  []func(data *sensor_msgs.CompressedImage) string
+Rule35  []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule36  []func(data *dynamic_reconfigure.Config) string
+Rule37  []func(data *theora_image_transport.Packet) string
+Rule38  []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule39  []func(data *dynamic_reconfigure.Config) string
+Rule40  []func(data *geometry_msgs.PoseStamped) string
+Rule41  []func(data *geometry_msgs.PoseStamped) string
+Rule42  []func(data *nav_msgs.Path) string
+Rule43  []func(data *std_msgs.Int8) string
+Rule44  []func(data *std_msgs.Bool) string
+Rule45  []func(data *nav_msgs.Path) string
+Rule46  []func(data *geometry_msgs.PoseStamped) string
+Rule47  []func(data *geometry_msgs.PoseStamped) string
+Rule48  []func(data *geometry_msgs.PoseStamped) string
+Rule49  []func(data *std_msgs.String) string
+Rule50  []func(data *visualization_msgs.MarkerArray) string
+Rule51  []func(data *geometry_msgs.PolygonStamped) string
+Rule52  []func(data *nav_msgs.OccupancyGrid) string
+Rule53  []func(data *nav_msgs.OccupancyGrid) string
+Rule54  []func(data *nav_msgs.OccupancyGrid) string
+Rule55  []func(data *std_msgs.Float32) string
+Rule56  []func(data *std_msgs.Int32) string
+Rule57  []func(data *nav_msgs.Path) string
+Rule58  []func(data *clean_msg.ErrorInfo) string
+Rule59  []func(data *nav_msgs.OccupancyGrid) string
+Rule60  []func(data *nav_msgs.OccupancyGrid) string
+Rule61  []func(data *nav_msgs.OccupancyGrid) string
+Rule62  []func(data *nav_msgs.OccupancyGrid) string
+Rule63  []func(data *nav_msgs.OccupancyGrid) string
+Rule64  []func(data *nav_msgs.OccupancyGrid) string
+Rule65  []func(data *std_msgs.String) string
+Rule66  []func(data *std_msgs.Bool) string
+Rule67  []func(data *std_msgs.Bool) string
+Rule68  []func(data *geometry_msgs.PolygonStamped) string
+Rule69  []func(data *geometry_msgs.PointStamped) string
+Rule70  []func(data *std_msgs.String) string
+Rule71  []func(data *geometry_msgs.Twist) string
+Rule72  []func(data *geometry_msgs.Twist) string
+Rule73  []func(data *nav_msgs.Path) string
+Rule74  []func(data *common_msgs.CreateMapInfo) string
+Rule75  []func(data *geometry_msgs.Twist) string
+Rule76  []func(data *common_msgs.SensorStatus) string
+Rule77  []func(data *geometry_msgs.PoseArray) string
+Rule78  []func(data *nav_msgs.Path) string
+Rule79  []func(data *common_msgs.IdentifierObjsInfo) string
+Rule80  []func(data *common_msgs.McuDiagnostic) string
+Rule81  []func(data *diagnostic_msgs.DiagnosticArray) string
+Rule82  []func(data *std_msgs.Int8) string
+Rule83  []func(data *std_msgs.Int16) string
+Rule84  []func(data *geometry_msgs.Vector3Stamped) string
+Rule85  []func(data *sensor_msgs.LaserScan) string
+Rule86  []func(data *sensor_msgs.PointCloud2) string
+Rule87  []func(data *std_msgs.String) string
+Rule88  []func(data *std_msgs.String) string
+Rule89  []func(data *std_msgs.String) string
+Rule90  []func(data *std_msgs.Int32) string
+Rule91  []func(data *common_msgs.TaskInfo) string
+Rule92  []func(data *common_msgs.MapInfo) string
+Rule93  []func(data *nav_msgs.Path) string
+Rule94  []func(data *common_msgs.VideoStream) string
+Rule95  []func(data *sensor_msgs.PointCloud2) string
+Rule96  []func(data *nav_msgs.Path) string
+Rule97  []func(data *sensor_msgs.PointCloud2) string
+Rule98  []func(data *sensor_msgs.PointCloud2) string
+Rule99  []func(data *sensor_msgs.PointCloud2) string
+Rule100 []func(data *geometry_msgs.PointStamped) string
+Rule101 []func(data *nav_msgs.Path) string
+Rule102 []func(data *geometry_msgs.PoseStamped) string
+Rule103 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+Rule104 []func(data *geometry_msgs.Pose) string
+Rule105 []func(data *std_msgs.String) string
+Rule106 []func(data *std_msgs.String) string
+Rule107 []func(data *std_msgs.String) string
+Rule108 []func(data *std_msgs.String) string
+Rule109 []func(data *std_msgs.Float64) string
+Rule110 []func(data *std_msgs.String) string
+Rule111 []func(data *std_msgs.String) string
+Rule112 []func(data *sensor_msgs.Imu) string
+Rule113 []func(data *std_msgs.String) string
+Rule114 []func(data *std_msgs.Int8) string
+Rule115 []func(data *std_msgs.Int16) string
+Rule116 []func(data *std_msgs.String) string
+Rule117 []func(data *std_msgs.String) string
+Rule118 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+Rule119 []func(data *sensor_msgs.JointState) string
+Rule120 []func(data *std_msgs.String) string
+Rule121 []func(data *cartographer_ros_msgs.LandmarkList) string
+Rule122 []func(data *nav_msgs.Odometry) string
+Rule123 []func(data *sensor_msgs.LaserScan) string
+Rule124 []func(data *std_msgs.String) string
+Rule125 []func(data *nav_msgs.Path) string
+Rule126 []func(data *std_msgs.String) string
+Rule127 []func(data *std_msgs.String) string
+Rule128 []func(data *std_msgs.String) string
+Rule129 []func(data *std_msgs.String) string
+Rule130 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+Rule131 []func(data *std_msgs.String) string
+Rule132 []func(data *std_msgs.String) string
+Rule133 []func(data *common_msgs.LocateInfo) string
+Rule134 []func(data *std_msgs.Bool) string
+Rule135 []func(data *std_msgs.Float64MultiArray) string
+Rule136 []func(data *std_msgs.String) string
+Rule137 []func(data *std_msgs.String) string
+Rule138 []func(data *nav_msgs.OccupancyGrid) string
+Rule139 []func(data *std_msgs.String) string
+Rule140 []func(data *nav_msgs.Path) string
+Rule141 []func(data *std_msgs.String) string
+Rule142 []func(data *std_msgs.String) string
+Rule143 []func(data *nav_msgs.MapMetaData) string
+Rule144 []func(data *nav_msgs.Path) string
+Rule145 []func(data *geometry_msgs.PoseStamped) string
+Rule146 []func(data *nav_msgs.OccupancyGrid) string
+Rule147 []func(data *nav_msgs.OccupancyGrid) string
+Rule148 []func(data *std_msgs.String) string
+Rule149 []func(data *std_msgs.String) string
+Rule150 []func(data *std_msgs.String) string
+Rule151 []func(data *std_msgs.String) string
+Rule152 []func(data *std_msgs.Bool) string
+Rule153 []func(data *sensor_msgs.CameraInfo) string
+Rule154 []func(data *sensor_msgs.Image) string
+Rule155 []func(data *sensor_msgs.CompressedImage) string
+Rule156 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule157 []func(data *dynamic_reconfigure.Config) string
+Rule158 []func(data *sensor_msgs.CompressedImage) string
+Rule159 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule160 []func(data *dynamic_reconfigure.Config) string
+Rule161 []func(data *theora_image_transport.Packet) string
+Rule162 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule163 []func(data *dynamic_reconfigure.Config) string
+Rule164 []func(data *sensor_msgs.CameraInfo) string
+Rule165 []func(data *sensor_msgs.Image) string
+Rule166 []func(data *sensor_msgs.CompressedImage) string
+Rule167 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule168 []func(data *dynamic_reconfigure.Config) string
+Rule169 []func(data *sensor_msgs.CompressedImage) string
+Rule170 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule171 []func(data *dynamic_reconfigure.Config) string
+Rule172 []func(data *theora_image_transport.Packet) string
+Rule173 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule174 []func(data *dynamic_reconfigure.Config) string
+Rule175 []func(data *sensor_msgs.PointCloud2) string
+Rule176 []func(data *sensor_msgs.CameraInfo) string
+Rule177 []func(data *sensor_msgs.Image) string
+Rule178 []func(data *sensor_msgs.CompressedImage) string
+Rule179 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule180 []func(data *dynamic_reconfigure.Config) string
+Rule181 []func(data *sensor_msgs.CompressedImage) string
+Rule182 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule183 []func(data *dynamic_reconfigure.Config) string
+Rule184 []func(data *theora_image_transport.Packet) string
+Rule185 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule186 []func(data *dynamic_reconfigure.Config) string
+Rule187 []func(data *sensor_msgs.CameraInfo) string
+Rule188 []func(data *sensor_msgs.Image) string
+Rule189 []func(data *sensor_msgs.CompressedImage) string
+Rule190 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule191 []func(data *dynamic_reconfigure.Config) string
+Rule192 []func(data *sensor_msgs.CompressedImage) string
+Rule193 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule194 []func(data *dynamic_reconfigure.Config) string
+Rule195 []func(data *theora_image_transport.Packet) string
+Rule196 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule197 []func(data *dynamic_reconfigure.Config) string
+Rule198 []func(data *sensor_msgs.PointCloud2) string
+Rule199 []func(data *geometry_msgs.PoseStamped) string
+Rule200 []func(data *geometry_msgs.PoseStamped) string
+Rule201 []func(data *std_msgs.UInt8) string
+Rule202 []func(data *nav_msgs.Odometry) string
+Rule203 []func(data *std_msgs.String) string
+Rule204 []func(data *std_msgs.String) string
+Rule205 []func(data *nav_msgs.Odometry) string
+Rule206 []func(data *sensor_msgs.Imu) string
+Rule207 []func(data *sensor_msgs.PointCloud2) string
+Rule208 []func(data *geometry_msgs.PoseArray) string
+Rule209 []func(data *sensor_msgs.PointCloud2) string
+Rule210 []func(data *sensor_msgs.LaserScan) string
+Rule211 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+Rule212 []func(data *geometry_msgs.Vector3Stamped) string
+Rule213 []func(data *std_msgs.String) string
+Rule214 []func(data *common_msgs.FunctionAreas) string
+Rule215 []func(data *std_msgs.Bool) string
+Rule216 []func(data *nav_msgs.Path) string
+Rule217 []func(data *std_msgs.Float64MultiArray) string
+Rule218 []func(data *std_msgs.String) string
+Rule219 []func(data *std_msgs.String) string
+Rule220 []func(data *std_msgs.String) string
+Rule221 []func(data *geometry_msgs.PoseStamped) string
+Rule222 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+Rule223 []func(data *std_msgs.String) string
+Rule224 []func(data *std_msgs.String) string
+Rule225 []func(data *localization_monitor.RobotStatus) string
+Rule226 []func(data *std_msgs.Float64MultiArray) string
+Rule227 []func(data *std_msgs.String) string
+Rule228 []func(data *actionlib_msgs.GoalID) string
+Rule229 []func(data *ipa_building_msgs.MapSegmentationActionFeedback) string
+Rule230 []func(data *ipa_building_msgs.MapSegmentationActionGoal) string
+Rule231 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule232 []func(data *dynamic_reconfigure.Config) string
+Rule233 []func(data *ipa_building_msgs.MapSegmentationActionResult) string
+Rule234 []func(data *nav_msgs.OccupancyGrid) string
+Rule235 []func(data *actionlib_msgs.GoalStatusArray) string
+Rule236 []func(data *rosgraph_msgs.Log) string
+Rule237 []func(data *rosgraph_msgs.Log) string
+Rule238 []func(data *nav_msgs.Path) string
+Rule239 []func(data *geometry_msgs.Vector3Stamped) string
+Rule240 []func(data *sensor_msgs.LaserScan) string
+Rule241 []func(data *sensor_msgs.LaserScan) string
+Rule242 []func(data *sensor_msgs.LaserScan) string
+Rule243 []func(data *sensor_msgs.LaserScan) string
+Rule244 []func(data *sensor_msgs.LaserScan) string
+Rule245 []func(data *sensor_msgs.PointCloud2) string
+Rule246 []func(data *sensor_msgs.PointCloud2) string
+Rule247 []func(data *visualization_msgs.MarkerArray) string
+Rule248 []func(data *common_msgs.SensorTask) string
+Rule249 []func(data *std_msgs.String) string
+Rule250 []func(data *geometry_msgs.Vector3Stamped) string
+Rule251 []func(data *common_msgs.SonarList) string
+Rule252 []func(data *nav_msgs.Odometry) string
+Rule253 []func(data *sensor_msgs.LaserScan) string
+Rule254 []func(data *std_msgs.Bool) string
+Rule255 []func(data *sensor_msgs.LaserScan) string
+Rule256 []func(data *std_msgs.String) string
+Rule257 []func(data *std_msgs.Bool) string
+Rule258 []func(data *sensor_msgs.CameraInfo) string
+Rule259 []func(data *common_msgs.SysInfo) string
+Rule260 []func(data *sensor_msgs.Image) string
+Rule261 []func(data *sensor_msgs.CompressedImage) string
+Rule262 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule263 []func(data *dynamic_reconfigure.Config) string
+Rule264 []func(data *sensor_msgs.CompressedImage) string
+Rule265 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule266 []func(data *dynamic_reconfigure.Config) string
+Rule267 []func(data *theora_image_transport.Packet) string
+Rule268 []func(data *dynamic_reconfigure.ConfigDescription) string
+Rule269 []func(data *dynamic_reconfigure.Config) string
+Rule270 []func(data *std_msgs.Bool) string
+Rule271 []func(data *geometry_msgs.PoseStamped) string
+Rule272 []func(data *geometry_msgs.Vector3Stamped) string
+Rule273 []func(data *common_msgs.TaskFeedbackInfo) string
+Rule274 []func(data *common_msgs.Points) string
+Rule275 []func(data *tf2_msgs.TFMessage) string
+Rule276 []func(data *std_msgs.String) string
+Rule277 []func(data *tf2_msgs.TFMessage) string
+Rule278 []func(data *nav_msgs.Path) string
+Rule279 []func(data *common_msgs.UpLoadFileList) string
+Rule280 []func(data *sensor_msgs.Range) string
+Rule281 []func(data *sensor_msgs.LaserScan) string
+Rule282 []func(data *sensor_msgs.LaserScan) string
+Rule283 []func(data *sensor_msgs.LaserScan) string
+Rule284 []func(data *sensor_msgs.LaserScan) string

aarch64/pjibot_clean/master/package/config/trigger_var.go

@@ -1,43 +1,885 @@
 package config
 
 import (
-	"cicv-data-closedloop/pjibot_clean_msgs"
+	"cicv-data-closedloop/pjibot_clean_msgs/cartographer_ros_msgs"
+	"cicv-data-closedloop/pjibot_clean_msgs/clean_msg"
+	"cicv-data-closedloop/pjibot_clean_msgs/common_msgs"
+	"cicv-data-closedloop/pjibot_clean_msgs/dynamic_reconfigure"
+	"cicv-data-closedloop/pjibot_clean_msgs/ipa_building_msgs"
+	"cicv-data-closedloop/pjibot_clean_msgs/localization_monitor"
+	"cicv-data-closedloop/pjibot_clean_msgs/theora_image_transport"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/actionlib_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/diagnostic_msgs"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/nav_msgs"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/rosgraph_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/tf2_msgs"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/visualization_msgs"
 	"sync"
 )
 
 var (
 	LabelMapTriggerId = new(sync.Map)
-
-	// 1
-	TopicOfDiagnostics = "/diagnostics"
-	RuleOfDiagnostics  []func(data *diagnostic_msgs.DiagnosticArray) string
-	// 2
-	TopicOfImu = "/imu"
-	RuleOfImu  []func(data *sensor_msgs.Imu) string
-	// 3
-	TopicOfLocateInfo = "/locate_info"
-	RuleOfLocateInfo  []func(data *pjibot_clean_msgs.LocateInfo) string
-	// 4
-	TopicOfObstacleDetection = "/obstacle_detection"
-	RuleOfObstacleDetection  []func(data *std_msgs.UInt8) string
-	// 5
-	TopicOfOdom = "/odom"
-	RuleOfOdom  []func(data *nav_msgs.Odometry) string
-	// 6
-	TopicOfSysInfo = "/sys_info"
-	RuleOfSysInfo  []func(data *pjibot_clean_msgs.SysInfo) string
 	// todo 这里是全量的topic，添加topic则需要同时在下面的数组添加；也需要在produce_window.go中添加新的订阅者
 	AllTopics = []string{
-		TopicOfDiagnostics,       // 1
-		TopicOfImu,               // 2
-		TopicOfLocateInfo,        // 3
-		TopicOfObstacleDetection, // 4
-		TopicOfOdom,              // 5
-		TopicOfSysInfo,           // 6
+		Topic1,   // 1
+		Topic2,   // 2
+		Topic3,   // 3
+		Topic4,   // 4
+		Topic5,   // 5
+		Topic6,   // 6
+		Topic7,   // 7
+		Topic8,   // 8
+		Topic9,   // 9
+		Topic10,  // 10
+		Topic11,  // 11
+		Topic12,  // 12
+		Topic13,  // 13
+		Topic14,  // 14
+		Topic15,  // 15
+		Topic16,  // 16
+		Topic17,  // 17
+		Topic18,  // 18
+		Topic19,  // 19
+		Topic20,  // 20
+		Topic21,  // 21
+		Topic22,  // 22
+		Topic23,  // 23
+		Topic24,  // 24
+		Topic25,  // 25
+		Topic26,  // 26
+		Topic27,  // 27
+		Topic28,  // 28
+		Topic29,  // 29
+		Topic30,  // 30
+		Topic31,  // 31
+		Topic32,  // 32
+		Topic33,  // 33
+		Topic34,  // 34
+		Topic35,  // 35
+		Topic36,  // 36
+		Topic37,  // 37
+		Topic38,  // 38
+		Topic39,  // 39
+		Topic40,  // 40
+		Topic41,  // 41
+		Topic42,  // 42
+		Topic43,  // 43
+		Topic44,  // 44
+		Topic45,  // 45
+		Topic46,  // 46
+		Topic47,  // 47
+		Topic48,  // 48
+		Topic49,  // 49
+		Topic50,  // 50
+		Topic51,  // 51
+		Topic52,  // 52
+		Topic53,  // 53
+		Topic54,  // 54
+		Topic55,  // 55
+		Topic56,  // 56
+		Topic57,  // 57
+		Topic58,  // 58
+		Topic59,  // 59
+		Topic60,  // 60
+		Topic61,  // 61
+		Topic62,  // 62
+		Topic63,  // 63
+		Topic64,  // 64
+		Topic65,  // 65
+		Topic66,  // 66
+		Topic67,  // 67
+		Topic68,  // 68
+		Topic69,  // 69
+		Topic70,  // 70
+		Topic71,  // 71
+		Topic72,  // 72
+		Topic73,  // 73
+		Topic74,  // 74
+		Topic75,  // 75
+		Topic76,  // 76
+		Topic77,  // 77
+		Topic78,  // 78
+		Topic79,  // 79
+		Topic80,  // 80
+		Topic81,  // 81
+		Topic82,  // 82
+		Topic83,  // 83
+		Topic84,  // 84
+		Topic85,  // 85
+		Topic86,  // 86
+		Topic87,  // 87
+		Topic88,  // 88
+		Topic89,  // 89
+		Topic90,  // 90
+		Topic91,  // 91
+		Topic92,  // 92
+		Topic93,  // 93
+		Topic94,  // 94
+		Topic95,  // 95
+		Topic96,  // 96
+		Topic97,  // 97
+		Topic98,  // 98
+		Topic99,  // 99
+		Topic100, // 100
+		Topic101, // 101
+		Topic102, // 102
+		Topic103, // 103
+		Topic104, // 104
+		Topic105, // 105
+		Topic106, // 106
+		Topic107, // 107
+		Topic108, // 108
+		Topic109, // 109
+		Topic110, // 110
+		Topic111, // 111
+		Topic112, // 112
+		Topic113, // 113
+		Topic114, // 114
+		Topic115, // 115
+		Topic116, // 116
+		Topic117, // 117
+		Topic118, // 118
+		Topic119, // 119
+		Topic120, // 120
+		Topic121, // 121
+		Topic122, // 122
+		Topic123, // 123
+		Topic124, // 124
+		Topic125, // 125
+		Topic126, // 126
+		Topic127, // 127
+		Topic128, // 128
+		Topic129, // 129
+		Topic130, // 130
+		Topic131, // 131
+		Topic132, // 132
+		Topic133, // 133
+		Topic134, // 134
+		Topic135, // 135
+		Topic136, // 136
+		Topic137, // 137
+		Topic138, // 138
+		Topic139, // 139
+		Topic140, // 140
+		Topic141, // 141
+		Topic142, // 142
+		Topic143, // 143
+		Topic144, // 144
+		Topic145, // 145
+		Topic146, // 146
+		Topic147, // 147
+		Topic148, // 148
+		Topic149, // 149
+		Topic150, // 150
+		Topic151, // 151
+		Topic152, // 152
+		Topic153, // 153
+		Topic154, // 154
+		Topic155, // 155
+		Topic156, // 156
+		Topic157, // 157
+		Topic158, // 158
+		Topic159, // 159
+		Topic160, // 160
+		Topic161, // 161
+		Topic162, // 162
+		Topic163, // 163
+		Topic164, // 164
+		Topic165, // 165
+		Topic166, // 166
+		Topic167, // 167
+		Topic168, // 168
+		Topic169, // 169
+		Topic170, // 170
+		Topic171, // 171
+		Topic172, // 172
+		Topic173, // 173
+		Topic174, // 174
+		Topic175, // 175
+		Topic176, // 176
+		Topic177, // 177
+		Topic178, // 178
+		Topic179, // 179
+		Topic180, // 180
+		Topic181, // 181
+		Topic182, // 182
+		Topic183, // 183
+		Topic184, // 184
+		Topic185, // 185
+		Topic186, // 186
+		Topic187, // 187
+		Topic188, // 188
+		Topic189, // 189
+		Topic190, // 190
+		Topic191, // 191
+		Topic192, // 192
+		Topic193, // 193
+		Topic194, // 194
+		Topic195, // 195
+		Topic196, // 196
+		Topic197, // 197
+		Topic198, // 198
+		Topic199, // 199
+		Topic200, // 200
+		Topic201, // 201
+		Topic202, // 202
+		Topic203, // 203
+		Topic204, // 204
+		Topic205, // 205
+		Topic206, // 206
+		Topic207, // 207
+		Topic208, // 208
+		Topic209, // 209
+		Topic210, // 210
+		Topic211, // 211
+		Topic212, // 212
+		Topic213, // 213
+		Topic214, // 214
+		Topic215, // 215
+		Topic216, // 216
+		Topic217, // 217
+		Topic218, // 218
+		Topic219, // 219
+		Topic220, // 220
+		Topic221, // 221
+		Topic222, // 222
+		Topic223, // 223
+		Topic224, // 224
+		Topic225, // 225
+		Topic226, // 226
+		Topic227, // 227
+		Topic228, // 228
+		Topic229, // 229
+		Topic230, // 230
+		Topic231, // 231
+		Topic232, // 232
+		Topic233, // 233
+		Topic234, // 234
+		Topic235, // 235
+		Topic236, // 236
+		Topic237, // 237
+		Topic238, // 238
+		Topic239, // 239
+		Topic240, // 240
+		Topic241, // 241
+		Topic242, // 242
+		Topic243, // 243
+		Topic244, // 244
+		Topic245, // 245
+		Topic246, // 246
+		Topic247, // 247
+		Topic248, // 248
+		Topic249, // 249
+		Topic250, // 250
+		Topic251, // 251
+		Topic252, // 252
+		Topic253, // 253
+		Topic254, // 254
+		Topic255, // 255
+		Topic256, // 256
+		Topic257, // 257
+		Topic258, // 258
+		Topic259, // 259
+		Topic260, // 260
+		Topic261, // 261
+		Topic262, // 262
+		Topic263, // 263
+		Topic264, // 264
+		Topic265, // 265
+		Topic266, // 266
+		Topic267, // 267
+		Topic268, // 268
+		Topic269, // 269
+		Topic270, // 270
+		Topic271, // 271
+		Topic272, // 272
+		Topic273, // 273
+		Topic274, // 274
+		Topic275, // 275
+		Topic276, // 276
+		Topic277, // 277
+		Topic278, // 278
+		Topic279, // 279
+		Topic280, // 280
+		Topic281, // 281
+		Topic282, // 282
+		Topic283, // 283
+		Topic284, // 284
 	}
+	// topic
+	Topic1   = "/Electrification"
+	Topic2   = "/along_wall_start_point"
+	Topic3   = "/amcl/parameter_descriptions"
+	Topic4   = "/amcl/parameter_updates"
+	Topic5   = "/amcl_enter_mapconvert_topic"
+	Topic6   = "/amcl_pose"
+	Topic7   = "/amcl_relocalization_finish_pub"
+	Topic8   = "/amcl_topic"
+	Topic9   = "/any_eye/run_line_light"
+	Topic10  = "/application_heart_beat"
+	Topic11  = "/auto_dock/heart"
+	Topic12  = "/back_top_points_process"
+	Topic13  = "/batter"
+	Topic14  = "/boot_time"
+	Topic15  = "/boundingboxes_line"
+	Topic16  = "/call_icp"
+	Topic17  = "/camera/depth/camera_info"
+	Topic18  = "/camera/depth/image_raw"
+	Topic19  = "/camera/depth/image_raw/compressed"
+	Topic20  = "/camera/depth/image_raw/compressed/parameter_descriptions"
+	Topic21  = "/camera/depth/image_raw/compressed/parameter_updates"
+	Topic22  = "/camera/depth/image_raw/compressedDepth"
+	Topic23  = "/camera/depth/image_raw/compressedDepth/parameter_descriptions"
+	Topic24  = "/camera/depth/image_raw/compressedDepth/parameter_updates"
+	Topic25  = "/camera/depth/image_raw/theora"
+	Topic26  = "/camera/depth/image_raw/theora/parameter_descriptions"
+	Topic27  = "/camera/depth/image_raw/theora/parameter_updates"
+	Topic28  = "/camera/depth/points"
+	Topic29  = "/camera/ir/camera_info"
+	Topic30  = "/camera/ir/image_raw"
+	Topic31  = "/camera/ir/image_raw/compressed"
+	Topic32  = "/camera/ir/image_raw/compressed/parameter_descriptions"
+	Topic33  = "/camera/ir/image_raw/compressed/parameter_updates"
+	Topic34  = "/camera/ir/image_raw/compressedDepth"
+	Topic35  = "/camera/ir/image_raw/compressedDepth/parameter_descriptions"
+	Topic36  = "/camera/ir/image_raw/compressedDepth/parameter_updates"
+	Topic37  = "/camera/ir/image_raw/theora"
+	Topic38  = "/camera/ir/image_raw/theora/parameter_descriptions"
+	Topic39  = "/camera/ir/image_raw/theora/parameter_updates"
+	Topic40  = "/charge_tag_pos"
+	Topic41  = "/charge_target"
+	Topic42  = "/clean_pnc/astar_path_planner/path"
+	Topic43  = "/clean_pnc/battery_state"
+	Topic44  = "/clean_pnc/bumper"
+	Topic45  = "/clean_pnc/charger/station_line"
+	Topic46  = "/clean_pnc/charging_station/detect_position"
+	Topic47  = "/clean_pnc/charging_station/odom_position"
+	Topic48  = "/clean_pnc/charging_station/position"
+	Topic49  = "/clean_pnc/clean_cmd"
+	Topic50  = "/clean_pnc/cost_map/footprint"
+	Topic51  = "/clean_pnc/cost_map/footprint_spec"
+	Topic52  = "/clean_pnc/cost_map/global_costmap"
+	Topic53  = "/clean_pnc/cost_map/local_costmap"
+	Topic54  = "/clean_pnc/cost_map/task_costmap"
+	Topic55  = "/clean_pnc/cur_clean_area"
+	Topic56  = "/clean_pnc/current_task_list_loop_times"
+	Topic57  = "/clean_pnc/dwa_path_planner/global_path"
+	Topic58  = "/clean_pnc/error_code"
+	Topic59  = "/clean_pnc/function_map/compute_follow_path_map"
+	Topic60  = "/clean_pnc/function_map/forbidden_clean_area"
+	Topic61  = "/clean_pnc/function_map/need_clean_area"
+	Topic62  = "/clean_pnc/function_map/no_need_clean_area"
+	Topic63  = "/clean_pnc/function_map/task_cleaned_map"
+	Topic64  = "/clean_pnc/function_map/task_list_cleaned_map"
+	Topic65  = "/clean_pnc/save_report"
+	Topic66  = "/clean_pnc/scram_button"
+	Topic67  = "/clean_pnc/type/pause"
+	Topic68  = "/clean_polygon"
+	Topic69  = "/clicked_point"
+	Topic70  = "/close_imu_topic_"
+	Topic71  = "/cloud_cmd"
+	Topic72  = "/cmd_vel"
+	Topic73  = "/collisionDetection"
+	Topic74  = "/create_map_info"
+	Topic75  = "/ctrl_speed_deal_before"
+	Topic76  = "/current/sensor_status"
+	Topic77  = "/custom_path"
+	Topic78  = "/data_fusion_path"
+	Topic79  = "/detect/boundingboxes"
+	Topic80  = "/diagnostic/mcu"
+	Topic81  = "/diagnostics"
+	Topic82  = "/disinfection"
+	Topic83  = "/disinfection_info"
+	Topic84  = "/dock_flag"
+	Topic85  = "/dynamic_scan"
+	Topic86  = "/dynamic_wall_line_pub"
+	Topic87  = "/elevate_scence"
+	Topic88  = "/elevate_state_topic"
+	Topic89  = "/elevator_dwa/task_status"
+	Topic90  = "/engine/current_robot_mode"
+	Topic91  = "/engine/current_task_info"
+	Topic92  = "/engine/map_info"
+	Topic93  = "/engine/out_line_path"
+	Topic94  = "/engine/video_stream_push"
+	Topic95  = "/floor_downsample"
+	Topic96  = "/follow_path_path"
+	Topic97  = "/front_down_points_process"
+	Topic98  = "/front_top_points_downsample1"
+	Topic99  = "/front_top_points_process"
+	Topic100 = "/global_goal"
+	Topic101 = "/global_path"
+	Topic102 = "/hst007_camera_pose"
+	Topic103 = "/icp_initial_pose"
+	Topic104 = "/icp_localization_check_topic"
+	Topic105 = "/icp_relocalization_finish_pub_topic"
+	Topic106 = "/icp_relocalization_pub_topic"
+	Topic107 = "/icp_relocalization_sub_topic"
+	Topic108 = "/icp_run_topic"
+	Topic109 = "/icp_score"
+	Topic110 = "/icp_service"
+	Topic111 = "/icp_topic"
+	Topic112 = "/imu"
+	Topic113 = "/imu_cal_state"
+	Topic114 = "/imu_calibration_state"
+	Topic115 = "/imu_calibration_temperature"
+	Topic116 = "/imu_slover_param"
+	Topic117 = "/incline_localization"
+	Topic118 = "/initialpose"
+	Topic119 = "/joint_states"
+	Topic120 = "/kibana_log"
+	Topic121 = "/landmark"
+	Topic122 = "/laser_odom"
+	Topic123 = "/leg_scan"
+	Topic124 = "/lm_imu"
+	Topic125 = "/local_path_update"
+	Topic126 = "/localation_monitor_topic"
+	Topic127 = "/localization_convertMap_topic"
+	Topic128 = "/localization_fail"
+	Topic129 = "/localization_monitor_node/localation_monitor_topic"
+	Topic130 = "/localization_recover_pose"
+	Topic131 = "/localization_rocover_state"
+	Topic132 = "/localization_state_modiy"
+	Topic133 = "/locate_info"
+	Topic134 = "/locate_state"
+	Topic135 = "/lost_localization_state_"
+	Topic136 = "/lost_localization_warning_state"
+	Topic137 = "/manual_close_icp_topic"
+	Topic138 = "/map"
+	Topic139 = "/map_base64"
+	Topic140 = "/map_border"
+	Topic141 = "/map_merge_node/amcl_topic"
+	Topic142 = "/map_merge_node/icp_topic"
+	Topic143 = "/map_metadata"
+	Topic144 = "/move_base/GlobalPlanner/plan"
+	Topic145 = "/move_base_simple/goal"
+	Topic146 = "/mpc_cost_map"
+	Topic147 = "/mpc_cost_map1"
+	Topic148 = "/multi_persion_block"
+	Topic149 = "/mutli_person_block_pub"
+	Topic150 = "/new_imu"
+	Topic151 = "/node_Monitor"
+	Topic152 = "/node_Monitor/clean_pnc/state"
+	Topic153 = "/ob_camera_01/color/camera_info"
+	Topic154 = "/ob_camera_01/color/image_raw"
+	Topic155 = "/ob_camera_01/color/image_raw/compressed"
+	Topic156 = "/ob_camera_01/color/image_raw/compressed/parameter_descriptions"
+	Topic157 = "/ob_camera_01/color/image_raw/compressed/parameter_updates"
+	Topic158 = "/ob_camera_01/color/image_raw/compressedDepth"
+	Topic159 = "/ob_camera_01/color/image_raw/compressedDepth/parameter_descriptions"
+	Topic160 = "/ob_camera_01/color/image_raw/compressedDepth/parameter_updates"
+	Topic161 = "/ob_camera_01/color/image_raw/theora"
+	Topic162 = "/ob_camera_01/color/image_raw/theora/parameter_descriptions"
+	Topic163 = "/ob_camera_01/color/image_raw/theora/parameter_updates"
+	Topic164 = "/ob_camera_01/depth/camera_info"
+	Topic165 = "/ob_camera_01/depth/image_raw"
+	Topic166 = "/ob_camera_01/depth/image_raw/compressed"
+	Topic167 = "/ob_camera_01/depth/image_raw/compressed/parameter_descriptions"
+	Topic168 = "/ob_camera_01/depth/image_raw/compressed/parameter_updates"
+	Topic169 = "/ob_camera_01/depth/image_raw/compressedDepth"
+	Topic170 = "/ob_camera_01/depth/image_raw/compressedDepth/parameter_descriptions"
+	Topic171 = "/ob_camera_01/depth/image_raw/compressedDepth/parameter_updates"
+	Topic172 = "/ob_camera_01/depth/image_raw/theora"
+	Topic173 = "/ob_camera_01/depth/image_raw/theora/parameter_descriptions"
+	Topic174 = "/ob_camera_01/depth/image_raw/theora/parameter_updates"
+	Topic175 = "/ob_camera_01/depth/points"
+	Topic176 = "/ob_camera_02/color/camera_info"
+	Topic177 = "/ob_camera_02/color/image_raw"
+	Topic178 = "/ob_camera_02/color/image_raw/compressed"
+	Topic179 = "/ob_camera_02/color/image_raw/compressed/parameter_descriptions"
+	Topic180 = "/ob_camera_02/color/image_raw/compressed/parameter_updates"
+	Topic181 = "/ob_camera_02/color/image_raw/compressedDepth"
+	Topic182 = "/ob_camera_02/color/image_raw/compressedDepth/parameter_descriptions"
+	Topic183 = "/ob_camera_02/color/image_raw/compressedDepth/parameter_updates"
+	Topic184 = "/ob_camera_02/color/image_raw/theora"
+	Topic185 = "/ob_camera_02/color/image_raw/theora/parameter_descriptions"
+	Topic186 = "/ob_camera_02/color/image_raw/theora/parameter_updates"
+	Topic187 = "/ob_camera_02/depth/camera_info"
+	Topic188 = "/ob_camera_02/depth/image_raw"
+	Topic189 = "/ob_camera_02/depth/image_raw/compressed"
+	Topic190 = "/ob_camera_02/depth/image_raw/compressed/parameter_descriptions"
+	Topic191 = "/ob_camera_02/depth/image_raw/compressed/parameter_updates"
+	Topic192 = "/ob_camera_02/depth/image_raw/compressedDepth"
+	Topic193 = "/ob_camera_02/depth/image_raw/compressedDepth/parameter_descriptions"
+	Topic194 = "/ob_camera_02/depth/image_raw/compressedDepth/parameter_updates"
+	Topic195 = "/ob_camera_02/depth/image_raw/theora"
+	Topic196 = "/ob_camera_02/depth/image_raw/theora/parameter_descriptions"
+	Topic197 = "/ob_camera_02/depth/image_raw/theora/parameter_updates"
+	Topic198 = "/ob_camera_02/depth/points"
+	Topic199 = "/obberc_camera_back_pose"
+	Topic200 = "/obberc_camera_pose"
+	Topic201 = "/obstacle_detection"
+	Topic202 = "/odom"
+	Topic203 = "/odom_jump"
+	Topic204 = "/odom_localization"
+	Topic205 = "/odom_raw"
+	Topic206 = "/old_imu"
+	Topic207 = "/out_wallLine"
+	Topic208 = "/particlecloud"
+	Topic209 = "/pointcloud_topic"
+	Topic210 = "/pole_scan"
+	Topic211 = "/pose_correct_topic"
+	Topic212 = "/preventfalling"
+	Topic213 = "/pro_map_ctrl"
+	Topic214 = "/qs/clean_area"
+	Topic215 = "/qs/start_detectwall_line"
+	Topic216 = "/reference_path"
+	Topic217 = "/robot_add"
+	Topic218 = "/robot_is_slip"
+	Topic219 = "/robot_kidnap_state"
+	Topic220 = "/robot_lost"
+	Topic221 = "/robot_pose"
+	Topic222 = "/robot_pose_tf"
+	Topic223 = "/robot_shock"
+	Topic224 = "/robot_static_state"
+	Topic225 = "/robot_status"
+	Topic226 = "/robot_sub"
+	Topic227 = "/robot_sudden_state"
+	Topic228 = "/room_segmentation_server/cancel"
+	Topic229 = "/room_segmentation_server/feedback"
+	Topic230 = "/room_segmentation_server/goal"
+	Topic231 = "/room_segmentation_server/parameter_descriptions"
+	Topic232 = "/room_segmentation_server/parameter_updates"
+	Topic233 = "/room_segmentation_server/result"
+	Topic234 = "/room_segmentation_server/segmented_map"
+	Topic235 = "/room_segmentation_server/status"
+	Topic236 = "/rosout"
+	Topic237 = "/rosout_agg"
+	Topic238 = "/rviz_task_global_path"
+	Topic239 = "/safety"
+	Topic240 = "/scan"
+	Topic241 = "/scan_back_top"
+	Topic242 = "/scan_cliff"
+	Topic243 = "/scan_front_down"
+	Topic244 = "/scan_front_top"
+	Topic245 = "/scan_map_icp_amcl_node/map_point"
+	Topic246 = "/scan_map_icp_amcl_node/scan_point_transformed"
+	Topic247 = "/segmentation_map_marker"
+	Topic248 = "/sensor_task"
+	Topic249 = "/slip_topic"
+	Topic250 = "/sonar_alarm"
+	Topic251 = "/sonar_list"
+	Topic252 = "/srf_data"
+	Topic253 = "/srf_laser_odometry_node/srf_laser_truncated"
+	Topic254 = "/start_relocate"
+	Topic255 = "/static_scan"
+	Topic256 = "/sudden_stop_state_"
+	Topic257 = "/sunny/run_camera"
+	Topic258 = "/sunny_topic/device_HST007/tof_frame/camera_info"
+	Topic259 = "/sys_info"
+	Topic260 = "/tag_detections_image"
+	Topic261 = "/tag_detections_image/compressed"
+	Topic262 = "/tag_detections_image/compressed/parameter_descriptions"
+	Topic263 = "/tag_detections_image/compressed/parameter_updates"
+	Topic264 = "/tag_detections_image/compressedDepth"
+	Topic265 = "/tag_detections_image/compressedDepth/parameter_descriptions"
+	Topic266 = "/tag_detections_image/compressedDepth/parameter_updates"
+	Topic267 = "/tag_detections_image/theora"
+	Topic268 = "/tag_detections_image/theora/parameter_descriptions"
+	Topic269 = "/tag_detections_image/theora/parameter_updates"
+	Topic270 = "/tag_start"
+	Topic271 = "/target1"
+	Topic272 = "/task"
+	Topic273 = "/task_feedback_info"
+	Topic274 = "/task_global_path"
+	Topic275 = "/tf"
+	Topic276 = "/tf_data_error"
+	Topic277 = "/tf_static"
+	Topic278 = "/udata_fusion_path"
+	Topic279 = "/uploadBag"
+	Topic280 = "/vl_left"
+	Topic281 = "/xd1a_0"
+	Topic282 = "/xd1a_1"
+	Topic283 = "/xd1a_2"
+	Topic284 = "/xd1a_3"
+
+	// 触发器
+	Rule1   []func(data *std_msgs.Int16MultiArray) string
+	Rule2   []func(data *geometry_msgs.PoseStamped) string
+	Rule3   []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule4   []func(data *dynamic_reconfigure.Config) string
+	Rule5   []func(data *std_msgs.String) string
+	Rule6   []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+	Rule7   []func(data *std_msgs.String) string
+	Rule8   []func(data *std_msgs.String) string
+	Rule9   []func(data *std_msgs.Bool) string
+	Rule10  []func(data *std_msgs.Int8) string
+	Rule11  []func(data *std_msgs.Int8) string
+	Rule12  []func(data *sensor_msgs.PointCloud2) string
+	Rule13  []func(data *sensor_msgs.BatteryState) string
+	Rule14  []func(data *std_msgs.Int16) string
+	Rule15  []func(data *visualization_msgs.Marker) string
+	Rule16  []func(data *std_msgs.String) string
+	Rule17  []func(data *sensor_msgs.CameraInfo) string
+	Rule18  []func(data *sensor_msgs.Image) string
+	Rule19  []func(data *sensor_msgs.CompressedImage) string
+	Rule20  []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule21  []func(data *dynamic_reconfigure.Config) string
+	Rule22  []func(data *sensor_msgs.CompressedImage) string
+	Rule23  []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule24  []func(data *dynamic_reconfigure.Config) string
+	Rule25  []func(data *theora_image_transport.Packet) string
+	Rule26  []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule27  []func(data *dynamic_reconfigure.Config) string
+	Rule28  []func(data *sensor_msgs.PointCloud2) string
+	Rule29  []func(data *sensor_msgs.CameraInfo) string
+	Rule30  []func(data *sensor_msgs.Image) string
+	Rule31  []func(data *sensor_msgs.CompressedImage) string
+	Rule32  []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule33  []func(data *dynamic_reconfigure.Config) string
+	Rule34  []func(data *sensor_msgs.CompressedImage) string
+	Rule35  []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule36  []func(data *dynamic_reconfigure.Config) string
+	Rule37  []func(data *theora_image_transport.Packet) string
+	Rule38  []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule39  []func(data *dynamic_reconfigure.Config) string
+	Rule40  []func(data *geometry_msgs.PoseStamped) string
+	Rule41  []func(data *geometry_msgs.PoseStamped) string
+	Rule42  []func(data *nav_msgs.Path) string
+	Rule43  []func(data *std_msgs.Int8) string
+	Rule44  []func(data *std_msgs.Bool) string
+	Rule45  []func(data *nav_msgs.Path) string
+	Rule46  []func(data *geometry_msgs.PoseStamped) string
+	Rule47  []func(data *geometry_msgs.PoseStamped) string
+	Rule48  []func(data *geometry_msgs.PoseStamped) string
+	Rule49  []func(data *std_msgs.String) string
+	Rule50  []func(data *visualization_msgs.MarkerArray) string
+	Rule51  []func(data *geometry_msgs.PolygonStamped) string
+	Rule52  []func(data *nav_msgs.OccupancyGrid) string
+	Rule53  []func(data *nav_msgs.OccupancyGrid) string
+	Rule54  []func(data *nav_msgs.OccupancyGrid) string
+	Rule55  []func(data *std_msgs.Float32) string
+	Rule56  []func(data *std_msgs.Int32) string
+	Rule57  []func(data *nav_msgs.Path) string
+	Rule58  []func(data *clean_msg.ErrorInfo) string
+	Rule59  []func(data *nav_msgs.OccupancyGrid) string
+	Rule60  []func(data *nav_msgs.OccupancyGrid) string
+	Rule61  []func(data *nav_msgs.OccupancyGrid) string
+	Rule62  []func(data *nav_msgs.OccupancyGrid) string
+	Rule63  []func(data *nav_msgs.OccupancyGrid) string
+	Rule64  []func(data *nav_msgs.OccupancyGrid) string
+	Rule65  []func(data *std_msgs.String) string
+	Rule66  []func(data *std_msgs.Bool) string
+	Rule67  []func(data *std_msgs.Bool) string
+	Rule68  []func(data *geometry_msgs.PolygonStamped) string
+	Rule69  []func(data *geometry_msgs.PointStamped) string
+	Rule70  []func(data *std_msgs.String) string
+	Rule71  []func(data *geometry_msgs.Twist) string
+	Rule72  []func(data *geometry_msgs.Twist) string
+	Rule73  []func(data *nav_msgs.Path) string
+	Rule74  []func(data *common_msgs.CreateMapInfo) string
+	Rule75  []func(data *geometry_msgs.Twist) string
+	Rule76  []func(data *common_msgs.SensorStatus) string
+	Rule77  []func(data *geometry_msgs.PoseArray) string
+	Rule78  []func(data *nav_msgs.Path) string
+	Rule79  []func(data *common_msgs.IdentifierObjsInfo) string
+	Rule80  []func(data *common_msgs.McuDiagnostic) string
+	Rule81  []func(data *diagnostic_msgs.DiagnosticArray) string
+	Rule82  []func(data *std_msgs.Int8) string
+	Rule83  []func(data *std_msgs.Int16) string
+	Rule84  []func(data *geometry_msgs.Vector3Stamped) string
+	Rule85  []func(data *sensor_msgs.LaserScan) string
+	Rule86  []func(data *sensor_msgs.PointCloud2) string
+	Rule87  []func(data *std_msgs.String) string
+	Rule88  []func(data *std_msgs.String) string
+	Rule89  []func(data *std_msgs.String) string
+	Rule90  []func(data *std_msgs.Int32) string
+	Rule91  []func(data *common_msgs.TaskInfo) string
+	Rule92  []func(data *common_msgs.MapInfo) string
+	Rule93  []func(data *nav_msgs.Path) string
+	Rule94  []func(data *common_msgs.VideoStream) string
+	Rule95  []func(data *sensor_msgs.PointCloud2) string
+	Rule96  []func(data *nav_msgs.Path) string
+	Rule97  []func(data *sensor_msgs.PointCloud2) string
+	Rule98  []func(data *sensor_msgs.PointCloud2) string
+	Rule99  []func(data *sensor_msgs.PointCloud2) string
+	Rule100 []func(data *geometry_msgs.PointStamped) string
+	Rule101 []func(data *nav_msgs.Path) string
+	Rule102 []func(data *geometry_msgs.PoseStamped) string
+	Rule103 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+	Rule104 []func(data *geometry_msgs.Pose) string
+	Rule105 []func(data *std_msgs.String) string
+	Rule106 []func(data *std_msgs.String) string
+	Rule107 []func(data *std_msgs.String) string
+	Rule108 []func(data *std_msgs.String) string
+	Rule109 []func(data *std_msgs.Float64) string
+	Rule110 []func(data *std_msgs.String) string
+	Rule111 []func(data *std_msgs.String) string
+	Rule112 []func(data *sensor_msgs.Imu) string
+	Rule113 []func(data *std_msgs.String) string
+	Rule114 []func(data *std_msgs.Int8) string
+	Rule115 []func(data *std_msgs.Int16) string
+	Rule116 []func(data *std_msgs.String) string
+	Rule117 []func(data *std_msgs.String) string
+	Rule118 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+	Rule119 []func(data *sensor_msgs.JointState) string
+	Rule120 []func(data *std_msgs.String) string
+	Rule121 []func(data *cartographer_ros_msgs.LandmarkList) string
+	Rule122 []func(data *nav_msgs.Odometry) string
+	Rule123 []func(data *sensor_msgs.LaserScan) string
+	Rule124 []func(data *std_msgs.String) string
+	Rule125 []func(data *nav_msgs.Path) string
+	Rule126 []func(data *std_msgs.String) string
+	Rule127 []func(data *std_msgs.String) string
+	Rule128 []func(data *std_msgs.String) string
+	Rule129 []func(data *std_msgs.String) string
+	Rule130 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+	Rule131 []func(data *std_msgs.String) string
+	Rule132 []func(data *std_msgs.String) string
+	Rule133 []func(data *common_msgs.LocateInfo) string
+	Rule134 []func(data *std_msgs.Bool) string
+	Rule135 []func(data *std_msgs.Float64MultiArray) string
+	Rule136 []func(data *std_msgs.String) string
+	Rule137 []func(data *std_msgs.String) string
+	Rule138 []func(data *nav_msgs.OccupancyGrid) string
+	Rule139 []func(data *std_msgs.String) string
+	Rule140 []func(data *nav_msgs.Path) string
+	Rule141 []func(data *std_msgs.String) string
+	Rule142 []func(data *std_msgs.String) string
+	Rule143 []func(data *nav_msgs.MapMetaData) string
+	Rule144 []func(data *nav_msgs.Path) string
+	Rule145 []func(data *geometry_msgs.PoseStamped) string
+	Rule146 []func(data *nav_msgs.OccupancyGrid) string
+	Rule147 []func(data *nav_msgs.OccupancyGrid) string
+	Rule148 []func(data *std_msgs.String) string
+	Rule149 []func(data *std_msgs.String) string
+	Rule150 []func(data *std_msgs.String) string
+	Rule151 []func(data *std_msgs.String) string
+	Rule152 []func(data *std_msgs.Bool) string
+	Rule153 []func(data *sensor_msgs.CameraInfo) string
+	Rule154 []func(data *sensor_msgs.Image) string
+	Rule155 []func(data *sensor_msgs.CompressedImage) string
+	Rule156 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule157 []func(data *dynamic_reconfigure.Config) string
+	Rule158 []func(data *sensor_msgs.CompressedImage) string
+	Rule159 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule160 []func(data *dynamic_reconfigure.Config) string
+	Rule161 []func(data *theora_image_transport.Packet) string
+	Rule162 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule163 []func(data *dynamic_reconfigure.Config) string
+	Rule164 []func(data *sensor_msgs.CameraInfo) string
+	Rule165 []func(data *sensor_msgs.Image) string
+	Rule166 []func(data *sensor_msgs.CompressedImage) string
+	Rule167 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule168 []func(data *dynamic_reconfigure.Config) string
+	Rule169 []func(data *sensor_msgs.CompressedImage) string
+	Rule170 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule171 []func(data *dynamic_reconfigure.Config) string
+	Rule172 []func(data *theora_image_transport.Packet) string
+	Rule173 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule174 []func(data *dynamic_reconfigure.Config) string
+	Rule175 []func(data *sensor_msgs.PointCloud2) string
+	Rule176 []func(data *sensor_msgs.CameraInfo) string
+	Rule177 []func(data *sensor_msgs.Image) string
+	Rule178 []func(data *sensor_msgs.CompressedImage) string
+	Rule179 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule180 []func(data *dynamic_reconfigure.Config) string
+	Rule181 []func(data *sensor_msgs.CompressedImage) string
+	Rule182 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule183 []func(data *dynamic_reconfigure.Config) string
+	Rule184 []func(data *theora_image_transport.Packet) string
+	Rule185 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule186 []func(data *dynamic_reconfigure.Config) string
+	Rule187 []func(data *sensor_msgs.CameraInfo) string
+	Rule188 []func(data *sensor_msgs.Image) string
+	Rule189 []func(data *sensor_msgs.CompressedImage) string
+	Rule190 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule191 []func(data *dynamic_reconfigure.Config) string
+	Rule192 []func(data *sensor_msgs.CompressedImage) string
+	Rule193 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule194 []func(data *dynamic_reconfigure.Config) string
+	Rule195 []func(data *theora_image_transport.Packet) string
+	Rule196 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule197 []func(data *dynamic_reconfigure.Config) string
+	Rule198 []func(data *sensor_msgs.PointCloud2) string
+	Rule199 []func(data *geometry_msgs.PoseStamped) string
+	Rule200 []func(data *geometry_msgs.PoseStamped) string
+	Rule201 []func(data *std_msgs.UInt8) string
+	Rule202 []func(data *nav_msgs.Odometry) string
+	Rule203 []func(data *std_msgs.String) string
+	Rule204 []func(data *std_msgs.String) string
+	Rule205 []func(data *nav_msgs.Odometry) string
+	Rule206 []func(data *sensor_msgs.Imu) string
+	Rule207 []func(data *sensor_msgs.PointCloud2) string
+	Rule208 []func(data *geometry_msgs.PoseArray) string
+	Rule209 []func(data *sensor_msgs.PointCloud2) string
+	Rule210 []func(data *sensor_msgs.LaserScan) string
+	Rule211 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+	Rule212 []func(data *geometry_msgs.Vector3Stamped) string
+	Rule213 []func(data *std_msgs.String) string
+	Rule214 []func(data *common_msgs.FunctionAreas) string
+	Rule215 []func(data *std_msgs.Bool) string
+	Rule216 []func(data *nav_msgs.Path) string
+	Rule217 []func(data *std_msgs.Float64MultiArray) string
+	Rule218 []func(data *std_msgs.String) string
+	Rule219 []func(data *std_msgs.String) string
+	Rule220 []func(data *std_msgs.String) string
+	Rule221 []func(data *geometry_msgs.PoseStamped) string
+	Rule222 []func(data *geometry_msgs.PoseWithCovarianceStamped) string
+	Rule223 []func(data *std_msgs.String) string
+	Rule224 []func(data *std_msgs.String) string
+	Rule225 []func(data *localization_monitor.RobotStatus) string
+	Rule226 []func(data *std_msgs.Float64MultiArray) string
+	Rule227 []func(data *std_msgs.String) string
+	Rule228 []func(data *actionlib_msgs.GoalID) string
+	Rule229 []func(data *ipa_building_msgs.MapSegmentationActionFeedback) string
+	Rule230 []func(data *ipa_building_msgs.MapSegmentationActionGoal) string
+	Rule231 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule232 []func(data *dynamic_reconfigure.Config) string
+	Rule233 []func(data *ipa_building_msgs.MapSegmentationActionResult) string
+	Rule234 []func(data *nav_msgs.OccupancyGrid) string
+	Rule235 []func(data *actionlib_msgs.GoalStatusArray) string
+	Rule236 []func(data *rosgraph_msgs.Log) string
+	Rule237 []func(data *rosgraph_msgs.Log) string
+	Rule238 []func(data *nav_msgs.Path) string
+	Rule239 []func(data *geometry_msgs.Vector3Stamped) string
+	Rule240 []func(data *sensor_msgs.LaserScan) string
+	Rule241 []func(data *sensor_msgs.LaserScan) string
+	Rule242 []func(data *sensor_msgs.LaserScan) string
+	Rule243 []func(data *sensor_msgs.LaserScan) string
+	Rule244 []func(data *sensor_msgs.LaserScan) string
+	Rule245 []func(data *sensor_msgs.PointCloud2) string
+	Rule246 []func(data *sensor_msgs.PointCloud2) string
+	Rule247 []func(data *visualization_msgs.MarkerArray) string
+	Rule248 []func(data *common_msgs.SensorTask) string
+	Rule249 []func(data *std_msgs.String) string
+	Rule250 []func(data *geometry_msgs.Vector3Stamped) string
+	Rule251 []func(data *common_msgs.SonarList) string
+	Rule252 []func(data *nav_msgs.Odometry) string
+	Rule253 []func(data *sensor_msgs.LaserScan) string
+	Rule254 []func(data *std_msgs.Bool) string
+	Rule255 []func(data *sensor_msgs.LaserScan) string
+	Rule256 []func(data *std_msgs.String) string
+	Rule257 []func(data *std_msgs.Bool) string
+	Rule258 []func(data *sensor_msgs.CameraInfo) string
+	Rule259 []func(data *common_msgs.SysInfo) string
+	Rule260 []func(data *sensor_msgs.Image) string
+	Rule261 []func(data *sensor_msgs.CompressedImage) string
+	Rule262 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule263 []func(data *dynamic_reconfigure.Config) string
+	Rule264 []func(data *sensor_msgs.CompressedImage) string
+	Rule265 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule266 []func(data *dynamic_reconfigure.Config) string
+	Rule267 []func(data *theora_image_transport.Packet) string
+	Rule268 []func(data *dynamic_reconfigure.ConfigDescription) string
+	Rule269 []func(data *dynamic_reconfigure.Config) string
+	Rule270 []func(data *std_msgs.Bool) string
+	Rule271 []func(data *geometry_msgs.PoseStamped) string
+	Rule272 []func(data *geometry_msgs.Vector3Stamped) string
+	Rule273 []func(data *common_msgs.TaskFeedbackInfo) string
+	Rule274 []func(data *common_msgs.Points) string
+	Rule275 []func(data *tf2_msgs.TFMessage) string
+	Rule276 []func(data *std_msgs.String) string
+	Rule277 []func(data *tf2_msgs.TFMessage) string
+	Rule278 []func(data *nav_msgs.Path) string
+	Rule279 []func(data *common_msgs.UpLoadFileList) string
+	Rule280 []func(data *sensor_msgs.Range) string
+	Rule281 []func(data *sensor_msgs.LaserScan) string
+	Rule282 []func(data *sensor_msgs.LaserScan) string
+	Rule283 []func(data *sensor_msgs.LaserScan) string
+	Rule284 []func(data *sensor_msgs.LaserScan) string
+
 	AllTopicsNumber = len(AllTopics)
 )

aarch64/pjibot_clean/master/package/config/机器人话题和数据类型对应关系.txt

@@ -0,0 +1,286 @@
+/Electrification          std_msgs/Int16MultiArray  /opt/ros/noetic/share/std_msgs/msg/Int16MultiArray.msg /root/crf/ros_msg_types/std_msgs_msg/Int16MultiArray.msg
+/along_wall_start_point   geometry_msgs/PoseStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseStamped.msg
+/amcl/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/amcl/parameter_updates   dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/amcl_enter_mapconvert_topic std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/amcl_pose                geometry_msgs/PoseWithCovarianceStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseWithCovarianceStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseWithCovarianceStamped.msg
+/amcl_relocalization_finish_pub std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/amcl_topic               std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/any_eye/run_line_light   std_msgs/Bool             /opt/ros/noetic/share/std_msgs/msg/Bool.msg /root/crf/ros_msg_types/std_msgs_msg/Bool.msg
+/application_heart_beat   std_msgs/Int8             /opt/ros/noetic/share/std_msgs/msg/Int8.msg /root/crf/ros_msg_types/std_msgs_msg/Int8.msg
+/auto_dock/heart          std_msgs/Int8             /opt/ros/noetic/share/std_msgs/msg/Int8.msg /root/crf/ros_msg_types/std_msgs_msg/Int8.msg
+/back_top_points_process  sensor_msgs/PointCloud2   /opt/ros/noetic/share/sensor_msgs/msg/PointCloud2.msg /root/crf/ros_msg_types/sensor_msgs_msg/PointCloud2.msg
+/batter                   sensor_msgs/BatteryState  /opt/ros/noetic/share/sensor_msgs/msg/BatteryState.msg /root/crf/ros_msg_types/sensor_msgs_msg/BatteryState.msg
+/boot_time                std_msgs/Int16            /opt/ros/noetic/share/std_msgs/msg/Int16.msg /root/crf/ros_msg_types/std_msgs_msg/Int16.msg
+/boundingboxes_line       visualization_msgs/Marker /opt/ros/noetic/share/visualization_msgs/msg/Marker.msg /root/crf/ros_msg_types/visualization_msgs_msg/Marker.msg
+/call_icp                 std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/camera/depth/camera_info sensor_msgs/CameraInfo    /opt/ros/noetic/share/sensor_msgs/msg/CameraInfo.msg /root/crf/ros_msg_types/sensor_msgs_msg/CameraInfo.msg
+/camera/depth/image_raw   sensor_msgs/Image         /opt/ros/noetic/share/sensor_msgs/msg/Image.msg /root/crf/ros_msg_types/sensor_msgs_msg/Image.msg
+/camera/depth/image_raw/compressed sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/camera/depth/image_raw/compressed/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/camera/depth/image_raw/compressed/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/camera/depth/image_raw/compressedDepth sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/camera/depth/image_raw/compressedDepth/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/camera/depth/image_raw/compressedDepth/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/camera/depth/image_raw/theora theora_image_transport/Packet /opt/ros/noetic/share/theora_image_transport/msg/Packet.msg /root/crf/ros_msg_types/theora_image_transport_msg/Packet.msg
+/camera/depth/image_raw/theora/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/camera/depth/image_raw/theora/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/camera/depth/points      sensor_msgs/PointCloud2   /opt/ros/noetic/share/sensor_msgs/msg/PointCloud2.msg /root/crf/ros_msg_types/sensor_msgs_msg/PointCloud2.msg
+/camera/ir/camera_info    sensor_msgs/CameraInfo    /opt/ros/noetic/share/sensor_msgs/msg/CameraInfo.msg /root/crf/ros_msg_types/sensor_msgs_msg/CameraInfo.msg
+/camera/ir/image_raw      sensor_msgs/Image         /opt/ros/noetic/share/sensor_msgs/msg/Image.msg /root/crf/ros_msg_types/sensor_msgs_msg/Image.msg
+/camera/ir/image_raw/compressed sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/camera/ir/image_raw/compressed/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/camera/ir/image_raw/compressed/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/camera/ir/image_raw/compressedDepth sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/camera/ir/image_raw/compressedDepth/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/camera/ir/image_raw/compressedDepth/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/camera/ir/image_raw/theora theora_image_transport/Packet /opt/ros/noetic/share/theora_image_transport/msg/Packet.msg /root/crf/ros_msg_types/theora_image_transport_msg/Packet.msg
+/camera/ir/image_raw/theora/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/camera/ir/image_raw/theora/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/charge_tag_pos           geometry_msgs/PoseStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseStamped.msg
+/charge_target            geometry_msgs/PoseStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseStamped.msg
+/clean_pnc/astar_path_planner/path nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/clean_pnc/battery_state  std_msgs/Int8             /opt/ros/noetic/share/std_msgs/msg/Int8.msg /root/crf/ros_msg_types/std_msgs_msg/Int8.msg
+/clean_pnc/bumper         std_msgs/Bool             /opt/ros/noetic/share/std_msgs/msg/Bool.msg /root/crf/ros_msg_types/std_msgs_msg/Bool.msg
+/clean_pnc/charger/station_line nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/clean_pnc/charging_station/detect_position geometry_msgs/PoseStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseStamped.msg
+/clean_pnc/charging_station/odom_position geometry_msgs/PoseStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseStamped.msg
+/clean_pnc/charging_station/position geometry_msgs/PoseStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseStamped.msg
+/clean_pnc/clean_cmd      std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/clean_pnc/cost_map/footprint visualization_msgs/MarkerArray /opt/ros/noetic/share/visualization_msgs/msg/MarkerArray.msg /root/crf/ros_msg_types/visualization_msgs_msg/MarkerArray.msg
+/clean_pnc/cost_map/footprint_spec geometry_msgs/PolygonStamped /opt/ros/noetic/share/geometry_msgs/msg/PolygonStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PolygonStamped.msg
+/clean_pnc/cost_map/global_costmap nav_msgs/OccupancyGrid    /opt/ros/noetic/share/nav_msgs/msg/OccupancyGrid.msg /root/crf/ros_msg_types/nav_msgs_msg/OccupancyGrid.msg
+/clean_pnc/cost_map/local_costmap nav_msgs/OccupancyGrid    /opt/ros/noetic/share/nav_msgs/msg/OccupancyGrid.msg /root/crf/ros_msg_types/nav_msgs_msg/OccupancyGrid.msg
+/clean_pnc/cost_map/task_costmap nav_msgs/OccupancyGrid    /opt/ros/noetic/share/nav_msgs/msg/OccupancyGrid.msg /root/crf/ros_msg_types/nav_msgs_msg/OccupancyGrid.msg
+/clean_pnc/cur_clean_area std_msgs/Float32          /opt/ros/noetic/share/std_msgs/msg/Float32.msg /root/crf/ros_msg_types/std_msgs_msg/Float32.msg
+/clean_pnc/current_task_list_loop_times std_msgs/Int32            /opt/ros/noetic/share/std_msgs/msg/Int32.msg /root/crf/ros_msg_types/std_msgs_msg/Int32.msg
+/clean_pnc/dwa_path_planner/global_path nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/clean_pnc/error_code     clean_msg/ErrorInfo       /root/pjirobot/install/share/clean_msg/msg/ErrorInfo.msg /root/crf/ros_msg_types/clean_msg_msg/ErrorInfo.msg
+/clean_pnc/function_map/compute_follow_path_map nav_msgs/OccupancyGrid    /opt/ros/noetic/share/nav_msgs/msg/OccupancyGrid.msg /root/crf/ros_msg_types/nav_msgs_msg/OccupancyGrid.msg
+/clean_pnc/function_map/forbidden_clean_area nav_msgs/OccupancyGrid    /opt/ros/noetic/share/nav_msgs/msg/OccupancyGrid.msg /root/crf/ros_msg_types/nav_msgs_msg/OccupancyGrid.msg
+/clean_pnc/function_map/need_clean_area nav_msgs/OccupancyGrid    /opt/ros/noetic/share/nav_msgs/msg/OccupancyGrid.msg /root/crf/ros_msg_types/nav_msgs_msg/OccupancyGrid.msg
+/clean_pnc/function_map/no_need_clean_area nav_msgs/OccupancyGrid    /opt/ros/noetic/share/nav_msgs/msg/OccupancyGrid.msg /root/crf/ros_msg_types/nav_msgs_msg/OccupancyGrid.msg
+/clean_pnc/function_map/task_cleaned_map nav_msgs/OccupancyGrid    /opt/ros/noetic/share/nav_msgs/msg/OccupancyGrid.msg /root/crf/ros_msg_types/nav_msgs_msg/OccupancyGrid.msg
+/clean_pnc/function_map/task_list_cleaned_map nav_msgs/OccupancyGrid    /opt/ros/noetic/share/nav_msgs/msg/OccupancyGrid.msg /root/crf/ros_msg_types/nav_msgs_msg/OccupancyGrid.msg
+/clean_pnc/save_report    std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/clean_pnc/scram_button   std_msgs/Bool             /opt/ros/noetic/share/std_msgs/msg/Bool.msg /root/crf/ros_msg_types/std_msgs_msg/Bool.msg
+/clean_pnc/type/pause     std_msgs/Bool             /opt/ros/noetic/share/std_msgs/msg/Bool.msg /root/crf/ros_msg_types/std_msgs_msg/Bool.msg
+/clean_polygon            geometry_msgs/PolygonStamped /opt/ros/noetic/share/geometry_msgs/msg/PolygonStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PolygonStamped.msg
+/clicked_point            geometry_msgs/PointStamped /opt/ros/noetic/share/geometry_msgs/msg/PointStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PointStamped.msg
+/close_imu_topic_         std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/cloud_cmd                geometry_msgs/Twist       /opt/ros/noetic/share/geometry_msgs/msg/Twist.msg /root/crf/ros_msg_types/geometry_msgs_msg/Twist.msg
+/cmd_vel                  geometry_msgs/Twist       /opt/ros/noetic/share/geometry_msgs/msg/Twist.msg /root/crf/ros_msg_types/geometry_msgs_msg/Twist.msg
+/collisionDetection       nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/create_map_info          common_msgs/CreateMapInfo /root/pjirobot/install/share/common_msgs/msg/CreateMapInfo.msg /root/crf/ros_msg_types/common_msgs_msg/CreateMapInfo.msg
+/ctrl_speed_deal_before   geometry_msgs/Twist       /opt/ros/noetic/share/geometry_msgs/msg/Twist.msg /root/crf/ros_msg_types/geometry_msgs_msg/Twist.msg
+/current/sensor_status    common_msgs/SensorStatus  /root/pjirobot/install/share/common_msgs/msg/SensorStatus.msg /root/crf/ros_msg_types/common_msgs_msg/SensorStatus.msg
+/custom_path              geometry_msgs/PoseArray   /opt/ros/noetic/share/geometry_msgs/msg/PoseArray.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseArray.msg
+/data_fusion_path         nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/detect/boundingboxes     common_msgs/IdentifierObjsInfo /root/pjirobot/install/share/common_msgs/msg/IdentifierObjsInfo.msg /root/crf/ros_msg_types/common_msgs_msg/IdentifierObjsInfo.msg
+/diagnostic/mcu           common_msgs/McuDiagnostic /root/pjirobot/install/share/common_msgs/msg/McuDiagnostic.msg /root/crf/ros_msg_types/common_msgs_msg/McuDiagnostic.msg
+/diagnostics              diagnostic_msgs/DiagnosticArray /opt/ros/noetic/share/diagnostic_msgs/msg/DiagnosticArray.msg /root/crf/ros_msg_types/diagnostic_msgs_msg/DiagnosticArray.msg
+/disinfection             std_msgs/Int8             /opt/ros/noetic/share/std_msgs/msg/Int8.msg /root/crf/ros_msg_types/std_msgs_msg/Int8.msg
+/disinfection_info        std_msgs/Int16            /opt/ros/noetic/share/std_msgs/msg/Int16.msg /root/crf/ros_msg_types/std_msgs_msg/Int16.msg
+/dock_flag                geometry_msgs/Vector3Stamped /opt/ros/noetic/share/geometry_msgs/msg/Vector3Stamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/Vector3Stamped.msg
+/dynamic_scan             sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+/dynamic_wall_line_pub    sensor_msgs/PointCloud2   /opt/ros/noetic/share/sensor_msgs/msg/PointCloud2.msg /root/crf/ros_msg_types/sensor_msgs_msg/PointCloud2.msg
+/elevate_scence           std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/elevate_state_topic      std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/elevator_dwa/task_status std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/engine/current_robot_mode std_msgs/Int32            /opt/ros/noetic/share/std_msgs/msg/Int32.msg /root/crf/ros_msg_types/std_msgs_msg/Int32.msg
+/engine/current_task_info common_msgs/TaskInfo      /root/pjirobot/install/share/common_msgs/msg/TaskInfo.msg /root/crf/ros_msg_types/common_msgs_msg/TaskInfo.msg
+/engine/map_info          common_msgs/MapInfo       /root/pjirobot/install/share/common_msgs/msg/MapInfo.msg /root/crf/ros_msg_types/common_msgs_msg/MapInfo.msg
+/engine/out_line_path     nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/engine/video_stream_push common_msgs/VideoStream   /root/pjirobot/install/share/common_msgs/msg/VideoStream.msg /root/crf/ros_msg_types/common_msgs_msg/VideoStream.msg
+/floor_downsample         sensor_msgs/PointCloud2   /opt/ros/noetic/share/sensor_msgs/msg/PointCloud2.msg /root/crf/ros_msg_types/sensor_msgs_msg/PointCloud2.msg
+/follow_path_path         nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/front_down_points_process sensor_msgs/PointCloud2   /opt/ros/noetic/share/sensor_msgs/msg/PointCloud2.msg /root/crf/ros_msg_types/sensor_msgs_msg/PointCloud2.msg
+/front_top_points_downsample1 sensor_msgs/PointCloud2   /opt/ros/noetic/share/sensor_msgs/msg/PointCloud2.msg /root/crf/ros_msg_types/sensor_msgs_msg/PointCloud2.msg
+/front_top_points_process sensor_msgs/PointCloud2   /opt/ros/noetic/share/sensor_msgs/msg/PointCloud2.msg /root/crf/ros_msg_types/sensor_msgs_msg/PointCloud2.msg
+/global_goal              geometry_msgs/PointStamped /opt/ros/noetic/share/geometry_msgs/msg/PointStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PointStamped.msg
+/global_path              nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/hst007_camera_pose       geometry_msgs/PoseStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseStamped.msg
+/icp_initial_pose         geometry_msgs/PoseWithCovarianceStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseWithCovarianceStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseWithCovarianceStamped.msg
+/icp_localization_check_topic geometry_msgs/Pose        /opt/ros/noetic/share/geometry_msgs/msg/Pose.msg /root/crf/ros_msg_types/geometry_msgs_msg/Pose.msg
+/icp_relocalization_finish_pub_topic std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/icp_relocalization_pub_topic std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/icp_relocalization_sub_topic std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/icp_run_topic            std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/icp_score                std_msgs/Float64          /opt/ros/noetic/share/std_msgs/msg/Float64.msg /root/crf/ros_msg_types/std_msgs_msg/Float64.msg
+/icp_service              std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/icp_topic                std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/imu                      sensor_msgs/Imu           /opt/ros/noetic/share/sensor_msgs/msg/Imu.msg /root/crf/ros_msg_types/sensor_msgs_msg/Imu.msg
+/imu_cal_state            std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/imu_calibration_state    std_msgs/Int8             /opt/ros/noetic/share/std_msgs/msg/Int8.msg /root/crf/ros_msg_types/std_msgs_msg/Int8.msg
+/imu_calibration_temperature std_msgs/Int16            /opt/ros/noetic/share/std_msgs/msg/Int16.msg /root/crf/ros_msg_types/std_msgs_msg/Int16.msg
+/imu_slover_param         std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/incline_localization     std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/initialpose              geometry_msgs/PoseWithCovarianceStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseWithCovarianceStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseWithCovarianceStamped.msg
+/joint_states             sensor_msgs/JointState    /opt/ros/noetic/share/sensor_msgs/msg/JointState.msg /root/crf/ros_msg_types/sensor_msgs_msg/JointState.msg
+/kibana_log               std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/landmark                 cartographer_ros_msgs/LandmarkList /root/pjirobot/install/share/cartographer_ros_msgs/msg/LandmarkList.msg /root/crf/ros_msg_types/cartographer_ros_msgs_msg/LandmarkList.msg
+/laser_odom               nav_msgs/Odometry         /opt/ros/noetic/share/nav_msgs/msg/Odometry.msg /root/crf/ros_msg_types/nav_msgs_msg/Odometry.msg
+/leg_scan                 sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+/lm_imu                   std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/local_path_update        nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/localation_monitor_topic std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/localization_convertMap_topic std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/localization_fail        std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/localization_monitor_node/localation_monitor_topic std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/localization_recover_pose geometry_msgs/PoseWithCovarianceStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseWithCovarianceStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseWithCovarianceStamped.msg
+/localization_rocover_state std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/localization_state_modiy std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/locate_info              common_msgs/LocateInfo    /root/pjirobot/install/share/common_msgs/msg/LocateInfo.msg /root/crf/ros_msg_types/common_msgs_msg/LocateInfo.msg
+/locate_state             std_msgs/Bool             /opt/ros/noetic/share/std_msgs/msg/Bool.msg /root/crf/ros_msg_types/std_msgs_msg/Bool.msg
+/lost_localization_state_ std_msgs/Float64MultiArray /opt/ros/noetic/share/std_msgs/msg/Float64MultiArray.msg /root/crf/ros_msg_types/std_msgs_msg/Float64MultiArray.msg
+/lost_localization_warning_state std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/manual_close_icp_topic   std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/map                      nav_msgs/OccupancyGrid    /opt/ros/noetic/share/nav_msgs/msg/OccupancyGrid.msg /root/crf/ros_msg_types/nav_msgs_msg/OccupancyGrid.msg
+/map_base64               std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/map_border               nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/map_merge_node/amcl_topic std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/map_merge_node/icp_topic std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/map_metadata             nav_msgs/MapMetaData      /opt/ros/noetic/share/nav_msgs/msg/MapMetaData.msg /root/crf/ros_msg_types/nav_msgs_msg/MapMetaData.msg
+/move_base/GlobalPlanner/plan nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/move_base_simple/goal    geometry_msgs/PoseStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseStamped.msg
+/mpc_cost_map             nav_msgs/OccupancyGrid    /opt/ros/noetic/share/nav_msgs/msg/OccupancyGrid.msg /root/crf/ros_msg_types/nav_msgs_msg/OccupancyGrid.msg
+/mpc_cost_map1            nav_msgs/OccupancyGrid    /opt/ros/noetic/share/nav_msgs/msg/OccupancyGrid.msg /root/crf/ros_msg_types/nav_msgs_msg/OccupancyGrid.msg
+/multi_persion_block      std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/mutli_person_block_pub   std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/new_imu                  std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/node_Monitor             std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/node_Monitor/clean_pnc/state std_msgs/Bool             /opt/ros/noetic/share/std_msgs/msg/Bool.msg /root/crf/ros_msg_types/std_msgs_msg/Bool.msg
+/ob_camera_01/color/camera_info sensor_msgs/CameraInfo    /opt/ros/noetic/share/sensor_msgs/msg/CameraInfo.msg /root/crf/ros_msg_types/sensor_msgs_msg/CameraInfo.msg
+/ob_camera_01/color/image_raw sensor_msgs/Image         /opt/ros/noetic/share/sensor_msgs/msg/Image.msg /root/crf/ros_msg_types/sensor_msgs_msg/Image.msg
+/ob_camera_01/color/image_raw/compressed sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/ob_camera_01/color/image_raw/compressed/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/ob_camera_01/color/image_raw/compressed/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/ob_camera_01/color/image_raw/compressedDepth sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/ob_camera_01/color/image_raw/compressedDepth/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/ob_camera_01/color/image_raw/compressedDepth/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/ob_camera_01/color/image_raw/theora theora_image_transport/Packet /opt/ros/noetic/share/theora_image_transport/msg/Packet.msg /root/crf/ros_msg_types/theora_image_transport_msg/Packet.msg
+/ob_camera_01/color/image_raw/theora/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/ob_camera_01/color/image_raw/theora/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/ob_camera_01/depth/camera_info sensor_msgs/CameraInfo    /opt/ros/noetic/share/sensor_msgs/msg/CameraInfo.msg /root/crf/ros_msg_types/sensor_msgs_msg/CameraInfo.msg
+/ob_camera_01/depth/image_raw sensor_msgs/Image         /opt/ros/noetic/share/sensor_msgs/msg/Image.msg /root/crf/ros_msg_types/sensor_msgs_msg/Image.msg
+/ob_camera_01/depth/image_raw/compressed sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/ob_camera_01/depth/image_raw/compressed/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/ob_camera_01/depth/image_raw/compressed/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/ob_camera_01/depth/image_raw/compressedDepth sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/ob_camera_01/depth/image_raw/compressedDepth/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/ob_camera_01/depth/image_raw/compressedDepth/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/ob_camera_01/depth/image_raw/theora theora_image_transport/Packet /opt/ros/noetic/share/theora_image_transport/msg/Packet.msg /root/crf/ros_msg_types/theora_image_transport_msg/Packet.msg
+/ob_camera_01/depth/image_raw/theora/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/ob_camera_01/depth/image_raw/theora/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/ob_camera_01/depth/points sensor_msgs/PointCloud2   /opt/ros/noetic/share/sensor_msgs/msg/PointCloud2.msg /root/crf/ros_msg_types/sensor_msgs_msg/PointCloud2.msg
+/ob_camera_02/color/camera_info sensor_msgs/CameraInfo    /opt/ros/noetic/share/sensor_msgs/msg/CameraInfo.msg /root/crf/ros_msg_types/sensor_msgs_msg/CameraInfo.msg
+/ob_camera_02/color/image_raw sensor_msgs/Image         /opt/ros/noetic/share/sensor_msgs/msg/Image.msg /root/crf/ros_msg_types/sensor_msgs_msg/Image.msg
+/ob_camera_02/color/image_raw/compressed sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/ob_camera_02/color/image_raw/compressed/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/ob_camera_02/color/image_raw/compressed/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/ob_camera_02/color/image_raw/compressedDepth sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/ob_camera_02/color/image_raw/compressedDepth/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/ob_camera_02/color/image_raw/compressedDepth/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/ob_camera_02/color/image_raw/theora theora_image_transport/Packet /opt/ros/noetic/share/theora_image_transport/msg/Packet.msg /root/crf/ros_msg_types/theora_image_transport_msg/Packet.msg
+/ob_camera_02/color/image_raw/theora/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/ob_camera_02/color/image_raw/theora/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/ob_camera_02/depth/camera_info sensor_msgs/CameraInfo    /opt/ros/noetic/share/sensor_msgs/msg/CameraInfo.msg /root/crf/ros_msg_types/sensor_msgs_msg/CameraInfo.msg
+/ob_camera_02/depth/image_raw sensor_msgs/Image         /opt/ros/noetic/share/sensor_msgs/msg/Image.msg /root/crf/ros_msg_types/sensor_msgs_msg/Image.msg
+/ob_camera_02/depth/image_raw/compressed sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/ob_camera_02/depth/image_raw/compressed/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/ob_camera_02/depth/image_raw/compressed/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/ob_camera_02/depth/image_raw/compressedDepth sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/ob_camera_02/depth/image_raw/compressedDepth/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/ob_camera_02/depth/image_raw/compressedDepth/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/ob_camera_02/depth/image_raw/theora theora_image_transport/Packet /opt/ros/noetic/share/theora_image_transport/msg/Packet.msg /root/crf/ros_msg_types/theora_image_transport_msg/Packet.msg
+/ob_camera_02/depth/image_raw/theora/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/ob_camera_02/depth/image_raw/theora/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/ob_camera_02/depth/points sensor_msgs/PointCloud2   /opt/ros/noetic/share/sensor_msgs/msg/PointCloud2.msg /root/crf/ros_msg_types/sensor_msgs_msg/PointCloud2.msg
+/obberc_camera_back_pose  geometry_msgs/PoseStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseStamped.msg
+/obberc_camera_pose       geometry_msgs/PoseStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseStamped.msg
+/obstacle_detection       std_msgs/UInt8            /opt/ros/noetic/share/std_msgs/msg/UInt8.msg /root/crf/ros_msg_types/std_msgs_msg/UInt8.msg
+/odom                     nav_msgs/Odometry         /opt/ros/noetic/share/nav_msgs/msg/Odometry.msg /root/crf/ros_msg_types/nav_msgs_msg/Odometry.msg
+/odom_jump                std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/odom_localization        std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/odom_raw                 nav_msgs/Odometry         /opt/ros/noetic/share/nav_msgs/msg/Odometry.msg /root/crf/ros_msg_types/nav_msgs_msg/Odometry.msg
+/old_imu                  sensor_msgs/Imu           /opt/ros/noetic/share/sensor_msgs/msg/Imu.msg /root/crf/ros_msg_types/sensor_msgs_msg/Imu.msg
+/out_wallLine             sensor_msgs/PointCloud2   /opt/ros/noetic/share/sensor_msgs/msg/PointCloud2.msg /root/crf/ros_msg_types/sensor_msgs_msg/PointCloud2.msg
+/particlecloud            geometry_msgs/PoseArray   /opt/ros/noetic/share/geometry_msgs/msg/PoseArray.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseArray.msg
+/pointcloud_topic         sensor_msgs/PointCloud2   /opt/ros/noetic/share/sensor_msgs/msg/PointCloud2.msg /root/crf/ros_msg_types/sensor_msgs_msg/PointCloud2.msg
+/pole_scan                sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+/pose_correct_topic       geometry_msgs/PoseWithCovarianceStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseWithCovarianceStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseWithCovarianceStamped.msg
+/preventfalling           geometry_msgs/Vector3Stamped /opt/ros/noetic/share/geometry_msgs/msg/Vector3Stamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/Vector3Stamped.msg
+/pro_map_ctrl             std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/qs/clean_area            common_msgs/FunctionAreas /root/pjirobot/install/share/common_msgs/msg/FunctionAreas.msg /root/crf/ros_msg_types/common_msgs_msg/FunctionAreas.msg
+/qs/start_detectwall_line std_msgs/Bool             /opt/ros/noetic/share/std_msgs/msg/Bool.msg /root/crf/ros_msg_types/std_msgs_msg/Bool.msg
+/reference_path           nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/robot_add                std_msgs/Float64MultiArray /opt/ros/noetic/share/std_msgs/msg/Float64MultiArray.msg /root/crf/ros_msg_types/std_msgs_msg/Float64MultiArray.msg
+/robot_is_slip            std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/robot_kidnap_state       std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/robot_lost               std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/robot_pose               geometry_msgs/PoseStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseStamped.msg
+/robot_pose_tf            geometry_msgs/PoseWithCovarianceStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseWithCovarianceStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseWithCovarianceStamped.msg
+/robot_shock              std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/robot_static_state       std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/robot_status             localization_monitor/RobotStatus /root/pjirobot/install/share/localization_monitor/msg/RobotStatus.msg /root/crf/ros_msg_types/localization_monitor_msg/RobotStatus.msg
+/robot_sub                std_msgs/Float64MultiArray /opt/ros/noetic/share/std_msgs/msg/Float64MultiArray.msg /root/crf/ros_msg_types/std_msgs_msg/Float64MultiArray.msg
+/robot_sudden_state       std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/room_segmentation_server/cancel actionlib_msgs/GoalID     /opt/ros/noetic/share/actionlib_msgs/msg/GoalID.msg /root/crf/ros_msg_types/actionlib_msgs_msg/GoalID.msg
+/room_segmentation_server/feedback ipa_building_msgs/MapSegmentationActionFeedback /root/pjirobot/install/share/ipa_building_msgs/msg/MapSegmentationActionFeedback.msg /root/crf/ros_msg_types/ipa_building_msgs_msg/MapSegmentationActionFeedback.msg
+/room_segmentation_server/goal ipa_building_msgs/MapSegmentationActionGoal /root/pjirobot/install/share/ipa_building_msgs/msg/MapSegmentationActionGoal.msg /root/crf/ros_msg_types/ipa_building_msgs_msg/MapSegmentationActionGoal.msg
+/room_segmentation_server/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/room_segmentation_server/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/room_segmentation_server/result ipa_building_msgs/MapSegmentationActionResult /root/pjirobot/install/share/ipa_building_msgs/msg/MapSegmentationActionResult.msg /root/crf/ros_msg_types/ipa_building_msgs_msg/MapSegmentationActionResult.msg
+/room_segmentation_server/segmented_map nav_msgs/OccupancyGrid    /opt/ros/noetic/share/nav_msgs/msg/OccupancyGrid.msg /root/crf/ros_msg_types/nav_msgs_msg/OccupancyGrid.msg
+/room_segmentation_server/status actionlib_msgs/GoalStatusArray /opt/ros/noetic/share/actionlib_msgs/msg/GoalStatusArray.msg /root/crf/ros_msg_types/actionlib_msgs_msg/GoalStatusArray.msg
+/rosout                   rosgraph_msgs/Log         /opt/ros/noetic/share/rosgraph_msgs/msg/Log.msg /root/crf/ros_msg_types/rosgraph_msgs_msg/Log.msg
+/rosout_agg               rosgraph_msgs/Log         /opt/ros/noetic/share/rosgraph_msgs/msg/Log.msg /root/crf/ros_msg_types/rosgraph_msgs_msg/Log.msg
+/rviz_task_global_path    nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/safety                   geometry_msgs/Vector3Stamped /opt/ros/noetic/share/geometry_msgs/msg/Vector3Stamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/Vector3Stamped.msg
+/scan                     sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+/scan_back_top            sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+/scan_cliff               sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+/scan_front_down          sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+/scan_front_top           sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+/scan_map_icp_amcl_node/map_point sensor_msgs/PointCloud2   /opt/ros/noetic/share/sensor_msgs/msg/PointCloud2.msg /root/crf/ros_msg_types/sensor_msgs_msg/PointCloud2.msg
+/scan_map_icp_amcl_node/scan_point_transformed sensor_msgs/PointCloud2   /opt/ros/noetic/share/sensor_msgs/msg/PointCloud2.msg /root/crf/ros_msg_types/sensor_msgs_msg/PointCloud2.msg
+/segmentation_map_marker  visualization_msgs/MarkerArray /opt/ros/noetic/share/visualization_msgs/msg/MarkerArray.msg /root/crf/ros_msg_types/visualization_msgs_msg/MarkerArray.msg
+/sensor_task              common_msgs/SensorTask    /root/pjirobot/install/share/common_msgs/msg/SensorTask.msg /root/crf/ros_msg_types/common_msgs_msg/SensorTask.msg
+/slip_topic               std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/sonar_alarm              geometry_msgs/Vector3Stamped /opt/ros/noetic/share/geometry_msgs/msg/Vector3Stamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/Vector3Stamped.msg
+/sonar_list               common_msgs/SonarList     /root/pjirobot/install/share/common_msgs/msg/SonarList.msg /root/crf/ros_msg_types/common_msgs_msg/SonarList.msg
+/srf_data                 nav_msgs/Odometry         /opt/ros/noetic/share/nav_msgs/msg/Odometry.msg /root/crf/ros_msg_types/nav_msgs_msg/Odometry.msg
+/srf_laser_odometry_node/srf_laser_truncated sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+/start_relocate           std_msgs/Bool             /opt/ros/noetic/share/std_msgs/msg/Bool.msg /root/crf/ros_msg_types/std_msgs_msg/Bool.msg
+/static_scan              sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+/sudden_stop_state_       std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/sunny/run_camera         std_msgs/Bool             /opt/ros/noetic/share/std_msgs/msg/Bool.msg /root/crf/ros_msg_types/std_msgs_msg/Bool.msg
+/sunny_topic/device_HST007/tof_frame/camera_info sensor_msgs/CameraInfo    /opt/ros/noetic/share/sensor_msgs/msg/CameraInfo.msg /root/crf/ros_msg_types/sensor_msgs_msg/CameraInfo.msg
+/sys_info                 common_msgs/SysInfo       /root/pjirobot/install/share/common_msgs/msg/SysInfo.msg /root/crf/ros_msg_types/common_msgs_msg/SysInfo.msg
+/tag_detections_image     sensor_msgs/Image         /opt/ros/noetic/share/sensor_msgs/msg/Image.msg /root/crf/ros_msg_types/sensor_msgs_msg/Image.msg
+/tag_detections_image/compressed sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/tag_detections_image/compressed/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/tag_detections_image/compressed/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/tag_detections_image/compressedDepth sensor_msgs/CompressedImage /opt/ros/noetic/share/sensor_msgs/msg/CompressedImage.msg /root/crf/ros_msg_types/sensor_msgs_msg/CompressedImage.msg
+/tag_detections_image/compressedDepth/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/tag_detections_image/compressedDepth/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/tag_detections_image/theora theora_image_transport/Packet /opt/ros/noetic/share/theora_image_transport/msg/Packet.msg /root/crf/ros_msg_types/theora_image_transport_msg/Packet.msg
+/tag_detections_image/theora/parameter_descriptions dynamic_reconfigure/ConfigDescription /opt/ros/noetic/share/dynamic_reconfigure/msg/ConfigDescription.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/ConfigDescription.msg
+/tag_detections_image/theora/parameter_updates dynamic_reconfigure/Config /opt/ros/noetic/share/dynamic_reconfigure/msg/Config.msg /root/crf/ros_msg_types/dynamic_reconfigure_msg/Config.msg
+/tag_start                std_msgs/Bool             /opt/ros/noetic/share/std_msgs/msg/Bool.msg /root/crf/ros_msg_types/std_msgs_msg/Bool.msg
+/target1                  geometry_msgs/PoseStamped /opt/ros/noetic/share/geometry_msgs/msg/PoseStamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/PoseStamped.msg
+/task                     geometry_msgs/Vector3Stamped /opt/ros/noetic/share/geometry_msgs/msg/Vector3Stamped.msg /root/crf/ros_msg_types/geometry_msgs_msg/Vector3Stamped.msg
+/task_feedback_info       common_msgs/TaskFeedbackInfo /root/pjirobot/install/share/common_msgs/msg/TaskFeedbackInfo.msg /root/crf/ros_msg_types/common_msgs_msg/TaskFeedbackInfo.msg
+/task_global_path         common_msgs/Points        /root/pjirobot/install/share/common_msgs/msg/Points.msg /root/crf/ros_msg_types/common_msgs_msg/Points.msg
+/tf                       tf2_msgs/TFMessage        /opt/ros/noetic/share/tf2_msgs/msg/TFMessage.msg /root/crf/ros_msg_types/tf2_msgs_msg/TFMessage.msg
+/tf_data_error            std_msgs/String           /opt/ros/noetic/share/std_msgs/msg/String.msg /root/crf/ros_msg_types/std_msgs_msg/String.msg
+/tf_static                tf2_msgs/TFMessage        /opt/ros/noetic/share/tf2_msgs/msg/TFMessage.msg /root/crf/ros_msg_types/tf2_msgs_msg/TFMessage.msg
+/udata_fusion_path        nav_msgs/Path             /opt/ros/noetic/share/nav_msgs/msg/Path.msg /root/crf/ros_msg_types/nav_msgs_msg/Path.msg
+/uploadBag                common_msgs/UpLoadFileList /root/pjirobot/install/share/common_msgs/msg/UpLoadFileList.msg /root/crf/ros_msg_types/common_msgs_msg/UpLoadFileList.msg
+/vl_left                  sensor_msgs/Range         /opt/ros/noetic/share/sensor_msgs/msg/Range.msg /root/crf/ros_msg_types/sensor_msgs_msg/Range.msg
+/xd1a_0                   sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+/xd1a_1                   sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+/xd1a_2                   sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+/xd1a_3                   sensor_msgs/LaserScan     /opt/ros/noetic/share/sensor_msgs/msg/LaserScan.msg /root/crf/ros_msg_types/sensor_msgs_msg/LaserScan.msg
+
+完成! 所有找到的消息类型定义已复制到: /root/crf/ros_msg_types

aarch64/pjibot_clean/master/package/config/清洁机器人话题列表.txt

@@ -0,0 +1,284 @@
+/Electrification
+/along_wall_start_point
+/amcl/parameter_descriptions
+/amcl/parameter_updates
+/amcl_enter_mapconvert_topic
+/amcl_pose
+/amcl_relocalization_finish_pub
+/amcl_topic
+/any_eye/run_line_light
+/application_heart_beat
+/auto_dock/heart
+/back_top_points_process
+/batter
+/boot_time
+/boundingboxes_line
+/call_icp
+/camera/depth/camera_info
+/camera/depth/image_raw
+/camera/depth/image_raw/compressed
+/camera/depth/image_raw/compressed/parameter_descriptions
+/camera/depth/image_raw/compressed/parameter_updates
+/camera/depth/image_raw/compressedDepth
+/camera/depth/image_raw/compressedDepth/parameter_descriptions
+/camera/depth/image_raw/compressedDepth/parameter_updates
+/camera/depth/image_raw/theora
+/camera/depth/image_raw/theora/parameter_descriptions
+/camera/depth/image_raw/theora/parameter_updates
+/camera/depth/points
+/camera/ir/camera_info
+/camera/ir/image_raw
+/camera/ir/image_raw/compressed
+/camera/ir/image_raw/compressed/parameter_descriptions
+/camera/ir/image_raw/compressed/parameter_updates
+/camera/ir/image_raw/compressedDepth
+/camera/ir/image_raw/compressedDepth/parameter_descriptions
+/camera/ir/image_raw/compressedDepth/parameter_updates
+/camera/ir/image_raw/theora
+/camera/ir/image_raw/theora/parameter_descriptions
+/camera/ir/image_raw/theora/parameter_updates
+/charge_tag_pos
+/charge_target
+/clean_pnc/astar_path_planner/path
+/clean_pnc/battery_state
+/clean_pnc/bumper
+/clean_pnc/charger/station_line
+/clean_pnc/charging_station/detect_position
+/clean_pnc/charging_station/odom_position
+/clean_pnc/charging_station/position
+/clean_pnc/clean_cmd
+/clean_pnc/cost_map/footprint
+/clean_pnc/cost_map/footprint_spec
+/clean_pnc/cost_map/global_costmap
+/clean_pnc/cost_map/local_costmap
+/clean_pnc/cost_map/task_costmap
+/clean_pnc/cur_clean_area
+/clean_pnc/current_task_list_loop_times
+/clean_pnc/dwa_path_planner/global_path
+/clean_pnc/error_code
+/clean_pnc/function_map/compute_follow_path_map
+/clean_pnc/function_map/forbidden_clean_area
+/clean_pnc/function_map/need_clean_area
+/clean_pnc/function_map/no_need_clean_area
+/clean_pnc/function_map/task_cleaned_map
+/clean_pnc/function_map/task_list_cleaned_map
+/clean_pnc/save_report
+/clean_pnc/scram_button
+/clean_pnc/type/pause
+/clean_polygon
+/clicked_point
+/close_imu_topic_
+/cloud_cmd
+/cmd_vel
+/collisionDetection
+/create_map_info
+/ctrl_speed_deal_before
+/current/sensor_status
+/custom_path
+/data_fusion_path
+/detect/boundingboxes
+/diagnostic/mcu
+/diagnostics
+/disinfection
+/disinfection_info
+/dock_flag
+/dynamic_scan
+/dynamic_wall_line_pub
+/elevate_scence
+/elevate_state_topic
+/elevator_dwa/task_status
+/engine/current_robot_mode
+/engine/current_task_info
+/engine/map_info
+/engine/out_line_path
+/engine/video_stream_push
+/floor_downsample
+/follow_path_path
+/front_down_points_process
+/front_top_points_downsample1
+/front_top_points_process
+/global_goal
+/global_path
+/hst007_camera_pose
+/icp_initial_pose
+/icp_localization_check_topic
+/icp_relocalization_finish_pub_topic
+/icp_relocalization_pub_topic
+/icp_relocalization_sub_topic
+/icp_run_topic
+/icp_score
+/icp_service
+/icp_topic
+/imu
+/imu_cal_state
+/imu_calibration_state
+/imu_calibration_temperature
+/imu_slover_param
+/incline_localization
+/initialpose
+/joint_states
+/kibana_log
+/landmark
+/laser_odom
+/leg_scan
+/lm_imu
+/local_path_update
+/localation_monitor_topic
+/localization_convertMap_topic
+/localization_fail
+/localization_monitor_node/localation_monitor_topic
+/localization_recover_pose
+/localization_rocover_state
+/localization_state_modiy
+/locate_info
+/locate_state
+/lost_localization_state_
+/lost_localization_warning_state
+/manual_close_icp_topic
+/map
+/map_base64
+/map_border
+/map_merge_node/amcl_topic
+/map_merge_node/icp_topic
+/map_metadata
+/move_base/GlobalPlanner/plan
+/move_base_simple/goal
+/mpc_cost_map
+/mpc_cost_map1
+/multi_persion_block
+/mutli_person_block_pub
+/new_imu
+/node_Monitor
+/node_Monitor/clean_pnc/state
+/ob_camera_01/color/camera_info
+/ob_camera_01/color/image_raw
+/ob_camera_01/color/image_raw/compressed
+/ob_camera_01/color/image_raw/compressed/parameter_descriptions
+/ob_camera_01/color/image_raw/compressed/parameter_updates
+/ob_camera_01/color/image_raw/compressedDepth
+/ob_camera_01/color/image_raw/compressedDepth/parameter_descriptions
+/ob_camera_01/color/image_raw/compressedDepth/parameter_updates
+/ob_camera_01/color/image_raw/theora
+/ob_camera_01/color/image_raw/theora/parameter_descriptions
+/ob_camera_01/color/image_raw/theora/parameter_updates
+/ob_camera_01/depth/camera_info
+/ob_camera_01/depth/image_raw
+/ob_camera_01/depth/image_raw/compressed
+/ob_camera_01/depth/image_raw/compressed/parameter_descriptions
+/ob_camera_01/depth/image_raw/compressed/parameter_updates
+/ob_camera_01/depth/image_raw/compressedDepth
+/ob_camera_01/depth/image_raw/compressedDepth/parameter_descriptions
+/ob_camera_01/depth/image_raw/compressedDepth/parameter_updates
+/ob_camera_01/depth/image_raw/theora
+/ob_camera_01/depth/image_raw/theora/parameter_descriptions
+/ob_camera_01/depth/image_raw/theora/parameter_updates
+/ob_camera_01/depth/points
+/ob_camera_02/color/camera_info
+/ob_camera_02/color/image_raw
+/ob_camera_02/color/image_raw/compressed
+/ob_camera_02/color/image_raw/compressed/parameter_descriptions
+/ob_camera_02/color/image_raw/compressed/parameter_updates
+/ob_camera_02/color/image_raw/compressedDepth
+/ob_camera_02/color/image_raw/compressedDepth/parameter_descriptions
+/ob_camera_02/color/image_raw/compressedDepth/parameter_updates
+/ob_camera_02/color/image_raw/theora
+/ob_camera_02/color/image_raw/theora/parameter_descriptions
+/ob_camera_02/color/image_raw/theora/parameter_updates
+/ob_camera_02/depth/camera_info
+/ob_camera_02/depth/image_raw
+/ob_camera_02/depth/image_raw/compressed
+/ob_camera_02/depth/image_raw/compressed/parameter_descriptions
+/ob_camera_02/depth/image_raw/compressed/parameter_updates
+/ob_camera_02/depth/image_raw/compressedDepth
+/ob_camera_02/depth/image_raw/compressedDepth/parameter_descriptions
+/ob_camera_02/depth/image_raw/compressedDepth/parameter_updates
+/ob_camera_02/depth/image_raw/theora
+/ob_camera_02/depth/image_raw/theora/parameter_descriptions
+/ob_camera_02/depth/image_raw/theora/parameter_updates
+/ob_camera_02/depth/points
+/obberc_camera_back_pose
+/obberc_camera_pose
+/obstacle_detection
+/odom
+/odom_jump
+/odom_localization
+/odom_raw
+/old_imu
+/out_wallLine
+/particlecloud
+/pointcloud_topic
+/pole_scan
+/pose_correct_topic
+/preventfalling
+/pro_map_ctrl
+/qs/clean_area
+/qs/start_detectwall_line
+/reference_path
+/robot_add
+/robot_is_slip
+/robot_kidnap_state
+/robot_lost
+/robot_pose
+/robot_pose_tf
+/robot_shock
+/robot_static_state
+/robot_status
+/robot_sub
+/robot_sudden_state
+/room_segmentation_server/cancel
+/room_segmentation_server/feedback
+/room_segmentation_server/goal
+/room_segmentation_server/parameter_descriptions
+/room_segmentation_server/parameter_updates
+/room_segmentation_server/result
+/room_segmentation_server/segmented_map
+/room_segmentation_server/status
+/rosout
+/rosout_agg
+/rviz_task_global_path
+/safety
+/scan
+/scan_back_top
+/scan_cliff
+/scan_front_down
+/scan_front_top
+/scan_map_icp_amcl_node/map_point
+/scan_map_icp_amcl_node/scan_point_transformed
+/segmentation_map_marker
+/sensor_task
+/slip_topic
+/sonar_alarm
+/sonar_list
+/srf_data
+/srf_laser_odometry_node/srf_laser_truncated
+/start_relocate
+/static_scan
+/sudden_stop_state_
+/sunny/run_camera
+/sunny_topic/device_HST007/tof_frame/camera_info
+/sys_info
+/tag_detections_image
+/tag_detections_image/compressed
+/tag_detections_image/compressed/parameter_descriptions
+/tag_detections_image/compressed/parameter_updates
+/tag_detections_image/compressedDepth
+/tag_detections_image/compressedDepth/parameter_descriptions
+/tag_detections_image/compressedDepth/parameter_updates
+/tag_detections_image/theora
+/tag_detections_image/theora/parameter_descriptions
+/tag_detections_image/theora/parameter_updates
+/tag_start
+/target1
+/task
+/task_feedback_info
+/task_global_path
+/tf
+/tf_data_error
+/tf_static
+/udata_fusion_path
+/uploadBag
+/vl_left
+/xd1a_0
+/xd1a_1
+/xd1a_2
+/xd1a_3

aarch64/pjibot_clean/master/package/service/produce_window.go

@@ -2,16 +2,11 @@ package service
 
 import (
 	commonConfig "cicv-data-closedloop/aarch64/pjibot_clean/common/config"
-	commonService "cicv-data-closedloop/aarch64/pjibot_clean/common/service"
-	masterConfig "cicv-data-closedloop/aarch64/pjibot_clean/master/package/config"
 	"cicv-data-closedloop/common/config/c_log"
 	"cicv-data-closedloop/common/entity"
 	"cicv-data-closedloop/common/util"
 	commonUtil "cicv-data-closedloop/common/util"
 	"encoding/json"
-	"github.com/bluenviron/goroslib/v2"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
-	"sync"
 	"time"
 )
 
@@ -23,68 +18,68 @@ var (
 
 // 负责监听所有主题并修改时间窗口
 func PrepareTimeWindowProducerQueue() {
-
-	var err error
-	subscribers := make([]*goroslib.Subscriber, masterConfig.AllTopicsNumber)
-	subscribersTimes := make([]time.Time, masterConfig.AllTopicsNumber)
-	subscribersTimeMutexes := make([]sync.Mutex, masterConfig.AllTopicsNumber)
-	subscribersMutexes := make([]sync.Mutex, masterConfig.AllTopicsNumber)
-	for i, topic := range masterConfig.AllTopics {
-		for {
-			create := false // 判断是否创建成功，用于打印日志
-			if topic == masterConfig.TopicOfObstacleDetection && len(masterConfig.RuleOfObstacleDetection) > 0 {
-				subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
-					Node:  commonConfig.RosNode,
-					Topic: topic,
-					Callback: func(data *std_msgs.UInt8) {
-						subscribersTimeMutexes[i].Lock()
-						if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
-							subscribersMutexes[i].Lock()
-							faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
-							lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
-							var faultLabel string
-							for _, f := range masterConfig.RuleOfObstacleDetection {
-								faultLabel = f(data)
-								if faultLabel != "" {
-									if !canCollect() {
-										break
-									}
-									subscribersTimes[i] = time.Now()
-									c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
-									saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
-									break
-								}
-							}
-							subscribersMutexes[i].Unlock()
-						}
-						subscribersTimeMutexes[i].Unlock()
-					},
-				})
-				if err == nil {
-					create = true
-				}
-			}
-			if err != nil {
-				c_log.GlobalLogger.Infof("创建订阅者报错，可能由于节点未启动，再次尝试【%v】", err)
-				time.Sleep(time.Duration(2) * time.Second)
-				continue
-			} else {
-				if create {
-					c_log.GlobalLogger.Infof("创建订阅者订阅话题【%v】", topic)
-				}
-				break
-			}
-		}
-	}
-	c_log.GlobalLogger.Infof("全部订阅者创建完成。")
-	select {
-	case signal := <-commonService.ChannelKillSubscriber:
-		if signal == 1 {
-			commonConfig.RosNode.Close()
-			commonService.AddKillTimes("3")
-			return
-		}
-	}
+	//
+	//var err error
+	//subscribers := make([]*goroslib.Subscriber, masterConfig.AllTopicsNumber)
+	//subscribersTimes := make([]time.Time, masterConfig.AllTopicsNumber)
+	//subscribersTimeMutexes := make([]sync.Mutex, masterConfig.AllTopicsNumber)
+	//subscribersMutexes := make([]sync.Mutex, masterConfig.AllTopicsNumber)
+	//for i, topic := range masterConfig.AllTopics {
+	//	for {
+	//		create := false // 判断是否创建成功，用于打印日志
+	//		if topic == masterConfig.TopicOfObstacleDetection && len(masterConfig.RuleOfObstacleDetection) > 0 {
+	//			subscribers[i], err = goroslib.NewSubscriber(goroslib.SubscriberConf{
+	//				Node:  commonConfig.RosNode,
+	//				Topic: topic,
+	//				Callback: func(data *std_msgs.UInt8) {
+	//					subscribersTimeMutexes[i].Lock()
+	//					if time.Since(subscribersTimes[i]).Seconds() > triggerInterval {
+	//						subscribersMutexes[i].Lock()
+	//						faultHappenTime := commonUtil.GetNowTimeCustom() // 获取当前故障发生时间
+	//						lastTimeWindow := entity.GetLastTimeWindow()     // 获取最后一个时间窗口
+	//						var faultLabel string
+	//						for _, f := range masterConfig.RuleOfObstacleDetection {
+	//							faultLabel = f(data)
+	//							if faultLabel != "" {
+	//								if !canCollect() {
+	//									break
+	//								}
+	//								subscribersTimes[i] = time.Now()
+	//								c_log.GlobalLogger.Errorf("触发事件【%v】，开始采集。", faultLabel)
+	//								saveTimeWindow(faultLabel, faultHappenTime, lastTimeWindow)
+	//								break
+	//							}
+	//						}
+	//						subscribersMutexes[i].Unlock()
+	//					}
+	//					subscribersTimeMutexes[i].Unlock()
+	//				},
+	//			})
+	//			if err == nil {
+	//				create = true
+	//			}
+	//		}
+	//		if err != nil {
+	//			c_log.GlobalLogger.Infof("创建订阅者报错，可能由于节点未启动，再次尝试【%v】", err)
+	//			time.Sleep(time.Duration(2) * time.Second)
+	//			continue
+	//		} else {
+	//			if create {
+	//				c_log.GlobalLogger.Infof("创建订阅者订阅话题【%v】", topic)
+	//			}
+	//			break
+	//		}
+	//	}
+	//}
+	//c_log.GlobalLogger.Infof("全部订阅者创建完成。")
+	//select {
+	//case signal := <-commonService.ChannelKillSubscriber:
+	//	if signal == 1 {
+	//		commonConfig.RosNode.Close()
+	//		commonService.AddKillTimes("3")
+	//		return
+	//	}
+	//}
 }
 
 func saveTimeWindow(faultLabel string, faultHappenTime string, lastTimeWindow *entity.TimeWindow) {

pjibot_clean_msgs/actionlib_msgs_msg/GoalID.msg

@@ -0,0 +1,10 @@
+# The stamp should store the time at which this goal was requested.
+# It is used by an action server when it tries to preempt all
+# goals that were requested before a certain time
+time stamp
+
+# The id provides a way to associate feedback and
+# result message with specific goal requests. The id
+# specified must be unique.
+string id
+

pjibot_clean_msgs/actionlib_msgs_msg/GoalStatus.msg

@@ -0,0 +1,23 @@
+GoalID goal_id
+uint8 status
+uint8 PENDING         = 0   # The goal has yet to be processed by the action server
+uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
+uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
+                            #   and has since completed its execution (Terminal State)
+uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
+uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
+                            #    to some failure (Terminal State)
+uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
+                            #    because the goal was unattainable or invalid (Terminal State)
+uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
+                            #    and has not yet completed execution
+uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
+                            #    but the action server has not yet confirmed that the goal is canceled
+uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
+                            #    and was successfully cancelled (Terminal State)
+uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
+                            #    sent over the wire by an action server
+
+#Allow for the user to associate a string with GoalStatus for debugging
+string text
+

pjibot_clean_msgs/actionlib_msgs_msg/GoalStatusArray.msg

@@ -0,0 +1,5 @@
+# Stores the statuses for goals that are currently being tracked
+# by an action server
+Header header
+GoalStatus[] status_list
+

pjibot_clean_msgs/cartographer_ros_msgs/msg_bagfileprogress.go

@@ -0,0 +1,18 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type BagfileProgress struct {
+	msg.Package        `ros:"cartographer_ros_msgs"`
+	CurrentBagfileName string
+	CurrentBagfileId   uint32
+	TotalBagfiles      uint32
+	TotalMessages      uint32
+	ProcessedMessages  uint32
+	TotalSeconds       float32
+	ProcessedSeconds   float32
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_histogrambucket.go

@@ -0,0 +1,13 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type HistogramBucket struct {
+	msg.Package    `ros:"cartographer_ros_msgs"`
+	BucketBoundary float64
+	Count          float64
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_landmarkentry.go

@@ -0,0 +1,16 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type LandmarkEntry struct {
+	msg.Package                   `ros:"cartographer_ros_msgs"`
+	Id                            string
+	TrackingFromLandmarkTransform geometry_msgs.Pose
+	TranslationWeight             float64
+	RotationWeight                float64
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_landmarklist.go

@@ -0,0 +1,14 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+)
+
+type LandmarkList struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	Header      std_msgs.Header
+	Landmarks   []LandmarkEntry
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_laserscanstates.go

@@ -0,0 +1,17 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+const (
+	LaserScanStates_OK      uint8 = 0
+	LaserScanStates_MISSING uint8 = 1
+)
+
+type LaserScanStates struct {
+	msg.Package     `ros:"cartographer_ros_msgs"`
+	msg.Definitions `ros:"uint8 OK=0,uint8 MISSING=1"`
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_metric.go

@@ -0,0 +1,22 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+const (
+	Metric_TYPE_COUNTER   uint8 = 0
+	Metric_TYPE_GAUGE     uint8 = 1
+	Metric_TYPE_HISTOGRAM uint8 = 2
+)
+
+type Metric struct {
+	msg.Package     `ros:"cartographer_ros_msgs"`
+	msg.Definitions `ros:"uint8 TYPE_COUNTER=0,uint8 TYPE_GAUGE=1,uint8 TYPE_HISTOGRAM=2"`
+	Type            uint8
+	Labels          []MetricLabel
+	Value           float64
+	CountsByBucket  []HistogramBucket
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_metricfamily.go

@@ -0,0 +1,14 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type MetricFamily struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	Name        string
+	Description string
+	Metrics     []Metric
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_metriclabel.go

@@ -0,0 +1,13 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type MetricLabel struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	Key         string
+	Value       string
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_robotpose.go

@@ -0,0 +1,17 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type RobotPose struct {
+	msg.Package        `ros:"cartographer_ros_msgs"`
+	RobotPose          geometry_msgs.Pose
+	CovarianceScore    float32
+	CurrentTrajectory  string
+	LastUpdatePose     geometry_msgs.Pose
+	LastUpdateDuration float32
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_statuscode.go

@@ -0,0 +1,31 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+const (
+	StatusCode_OK                  uint8 = 0
+	StatusCode_CANCELLED           uint8 = 1
+	StatusCode_UNKNOWN             uint8 = 2
+	StatusCode_INVALID_ARGUMENT    uint8 = 3
+	StatusCode_DEADLINE_EXCEEDED   uint8 = 4
+	StatusCode_NOT_FOUND           uint8 = 5
+	StatusCode_ALREADY_EXISTS      uint8 = 6
+	StatusCode_PERMISSION_DENIED   uint8 = 7
+	StatusCode_RESOURCE_EXHAUSTED  uint8 = 8
+	StatusCode_FAILED_PRECONDITION uint8 = 9
+	StatusCode_ABORTED             uint8 = 10
+	StatusCode_OUT_OF_RANGE        uint8 = 11
+	StatusCode_UNIMPLEMENTED       uint8 = 12
+	StatusCode_INTERNAL            uint8 = 13
+	StatusCode_UNAVAILABLE         uint8 = 14
+	StatusCode_DATA_LOSS           uint8 = 15
+)
+
+type StatusCode struct {
+	msg.Package     `ros:"cartographer_ros_msgs"`
+	msg.Definitions `ros:"uint8 OK=0,uint8 CANCELLED=1,uint8 UNKNOWN=2,uint8 INVALID_ARGUMENT=3,uint8 DEADLINE_EXCEEDED=4,uint8 NOT_FOUND=5,uint8 ALREADY_EXISTS=6,uint8 PERMISSION_DENIED=7,uint8 RESOURCE_EXHAUSTED=8,uint8 FAILED_PRECONDITION=9,uint8 ABORTED=10,uint8 OUT_OF_RANGE=11,uint8 UNIMPLEMENTED=12,uint8 INTERNAL=13,uint8 UNAVAILABLE=14,uint8 DATA_LOSS=15"`
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_statusresponse.go

@@ -0,0 +1,13 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type StatusResponse struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	Code        uint8
+	Message     string
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_submapentry.go

@@ -0,0 +1,17 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type SubmapEntry struct {
+	msg.Package   `ros:"cartographer_ros_msgs"`
+	TrajectoryId  int32
+	SubmapIndex   int32
+	SubmapVersion int32
+	Pose          geometry_msgs.Pose
+	IsFrozen      bool
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_submaplist.go

@@ -0,0 +1,14 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+)
+
+type SubmapList struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	Header      std_msgs.Header
+	Submap      []SubmapEntry
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_submaptexture.go

@@ -0,0 +1,17 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type SubmapTexture struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	Cells       []uint8
+	Width       int32
+	Height      int32
+	Resolution  float64
+	SlicePose   geometry_msgs.Pose
+}

pjibot_clean_msgs/cartographer_ros_msgs/msg_trajectorystates.go

@@ -0,0 +1,23 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+)
+
+const (
+	TrajectoryStates_ACTIVE   uint8 = 0
+	TrajectoryStates_FINISHED uint8 = 1
+	TrajectoryStates_FROZEN   uint8 = 2
+	TrajectoryStates_DELETED  uint8 = 3
+)
+
+type TrajectoryStates struct {
+	msg.Package     `ros:"cartographer_ros_msgs"`
+	msg.Definitions `ros:"uint8 ACTIVE=0,uint8 FINISHED=1,uint8 FROZEN=2,uint8 DELETED=3"`
+	Header          std_msgs.Header
+	TrajectoryId    []int32
+	TrajectoryState []uint8
+}

pjibot_clean_msgs/cartographer_ros_msgs/package.go

@@ -0,0 +1,5 @@
+// Package cartographer_ros_msgs contains message definitions.
+//
+//autogenerated:yes
+//nolint:revive
+package cartographer_ros_msgs

pjibot_clean_msgs/cartographer_ros_msgs/srv_deletetrajectory.go

@@ -0,0 +1,24 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type DeleteTrajectoryReq struct {
+	msg.Package  `ros:"cartographer_ros_msgs"`
+	TrajectoryId string
+}
+
+type DeleteTrajectoryRes struct {
+	msg.Package  `ros:"cartographer_ros_msgs"`
+	Status       StatusResponse
+	TrajectoryId int32
+}
+
+type DeleteTrajectory struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	DeleteTrajectoryReq
+	DeleteTrajectoryRes
+}

pjibot_clean_msgs/cartographer_ros_msgs/srv_finishtrajectory.go

@@ -0,0 +1,23 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type FinishTrajectoryReq struct {
+	msg.Package  `ros:"cartographer_ros_msgs"`
+	TrajectoryId int32
+}
+
+type FinishTrajectoryRes struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	Status      StatusResponse
+}
+
+type FinishTrajectory struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	FinishTrajectoryReq
+	FinishTrajectoryRes
+}

pjibot_clean_msgs/cartographer_ros_msgs/srv_gettrajectorystates.go

@@ -0,0 +1,23 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type GetTrajectoryStatesReq struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+}
+
+type GetTrajectoryStatesRes struct {
+	msg.Package      `ros:"cartographer_ros_msgs"`
+	Status           StatusResponse
+	TrajectoryStates TrajectoryStates
+}
+
+type GetTrajectoryStates struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	GetTrajectoryStatesReq
+	GetTrajectoryStatesRes
+}

pjibot_clean_msgs/cartographer_ros_msgs/srv_readmetrics.go

@@ -0,0 +1,25 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"time"
+)
+
+type ReadMetricsReq struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+}
+
+type ReadMetricsRes struct {
+	msg.Package    `ros:"cartographer_ros_msgs"`
+	Status         StatusResponse
+	MetricFamilies []MetricFamily
+	Timestamp      time.Time
+}
+
+type ReadMetrics struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	ReadMetricsReq
+	ReadMetricsRes
+}

pjibot_clean_msgs/cartographer_ros_msgs/srv_scanqualityquery.go

@@ -0,0 +1,22 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type ScanQualityQueryReq struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+}
+
+type ScanQualityQueryRes struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	Status      StatusResponse
+}
+
+type ScanQualityQuery struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	ScanQualityQueryReq
+	ScanQualityQueryRes
+}

pjibot_clean_msgs/cartographer_ros_msgs/srv_starttrajectory.go

@@ -0,0 +1,29 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type StartTrajectoryReq struct {
+	msg.Package            `ros:"cartographer_ros_msgs"`
+	ConfigurationDirectory string
+	ConfigurationBasename  string
+	UseInitialPose         bool
+	InitialPose            geometry_msgs.Pose
+	RelativeToTrajectoryId int32
+}
+
+type StartTrajectoryRes struct {
+	msg.Package  `ros:"cartographer_ros_msgs"`
+	Status       StatusResponse
+	TrajectoryId int32
+}
+
+type StartTrajectory struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	StartTrajectoryReq
+	StartTrajectoryRes
+}

pjibot_clean_msgs/cartographer_ros_msgs/srv_submapquery.go

@@ -0,0 +1,26 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type SubmapQueryReq struct {
+	msg.Package  `ros:"cartographer_ros_msgs"`
+	TrajectoryId int32
+	SubmapIndex  int32
+}
+
+type SubmapQueryRes struct {
+	msg.Package   `ros:"cartographer_ros_msgs"`
+	Status        StatusResponse
+	SubmapVersion int32
+	Textures      []SubmapTexture
+}
+
+type SubmapQuery struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	SubmapQueryReq
+	SubmapQueryRes
+}

pjibot_clean_msgs/cartographer_ros_msgs/srv_switchmap.go

@@ -0,0 +1,24 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type SwitchMapReq struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	Filename    string
+	FrozenState bool
+}
+
+type SwitchMapRes struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	Result      int32
+}
+
+type SwitchMap struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	SwitchMapReq
+	SwitchMapRes
+}

pjibot_clean_msgs/cartographer_ros_msgs/srv_trajectoryquery.go

@@ -0,0 +1,25 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type TrajectoryQueryReq struct {
+	msg.Package  `ros:"cartographer_ros_msgs"`
+	TrajectoryId int32
+}
+
+type TrajectoryQueryRes struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	Status      StatusResponse
+	Trajectory  []geometry_msgs.PoseStamped
+}
+
+type TrajectoryQuery struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	TrajectoryQueryReq
+	TrajectoryQueryRes
+}

pjibot_clean_msgs/cartographer_ros_msgs/srv_writestate.go

@@ -0,0 +1,24 @@
+//autogenerated:yes
+//nolint:revive,lll
+package cartographer_ros_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type WriteStateReq struct {
+	msg.Package              `ros:"cartographer_ros_msgs"`
+	Filename                 string
+	IncludeUnfinishedSubmaps bool
+}
+
+type WriteStateRes struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	Status      StatusResponse
+}
+
+type WriteState struct {
+	msg.Package `ros:"cartographer_ros_msgs"`
+	WriteStateReq
+	WriteStateRes
+}

pjibot_clean_msgs/clean_msg/msg_alongwallpath.go

@@ -0,0 +1,14 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type AlongWallPath struct {
+	msg.Package `ros:"clean_msg"`
+	Direction   int64
+	Points      []GridPhits
+	CleanLabel  int32
+}

pjibot_clean_msgs/clean_msg/msg_destinationpoint.go

@@ -0,0 +1,13 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type DestinationPoint struct {
+	msg.Package `ros:"clean_msg"`
+	Angle       float32
+	Position    GridPosition
+}

pjibot_clean_msgs/clean_msg/msg_errorinfo.go

@@ -0,0 +1,38 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+const (
+	ErrorInfo_NORMAL                             uint8 = 0
+	ErrorInfo_ERROR_CHARGER_NAVI                 uint8 = 1
+	ErrorInfo_ERROR_PATH_FOLLOWER_NAVI           uint8 = 2
+	ErrorInfo_ERROR_NAVIGATOR_NAVI               uint8 = 3
+	ErrorInfo_ERROR_STANDBY_NAVI                 uint8 = 4
+	ErrorInfo_ERROR_CHARGER_CHECK_STATION        uint8 = 5
+	ErrorInfo_ERROR_WALL_FOLLOWER_NAVI           uint8 = 6
+	ErrorInfo_ERROR_CHARGER_LOAD_STATION         uint8 = 7
+	ErrorInfo_ERROR_CHARGER_CHARGING             uint8 = 8
+	ErrorInfo_ERROR_WALL_FOLLOWER_WALL_REACHABLE uint8 = 9
+	ErrorInfo_ERROR_START_TASK_MANUAL_CHARGING   uint8 = 10
+	ErrorInfo_ERROR_START_TASK_LOCALIZED         uint8 = 11
+	ErrorInfo_ERROR_START_TASK_OUT_OF_STATION    uint8 = 12
+	ErrorInfo_ERROR_START_TASK_LOAD_MAP          uint8 = 13
+	ErrorInfo_ERROR_START_TASK_BUMPING           uint8 = 14
+	ErrorInfo_ERROR_START_TASK_EMERGENCY_BUTTON  uint8 = 15
+	ErrorInfo_ERROR_START_TASK_LOW_BATTERY       uint8 = 16
+	ErrorInfo_ERROR_PATH_FOLLOWER_PATH_REACHABLE uint8 = 17
+	ErrorInfo_ERROR_WALL_FOLLOWER_PLANNING       uint8 = 18
+	ErrorInfo_ERROR_LOCAL_PLANNER_PLANNING       uint8 = 19
+	ErrorInfo_ERROR_AREA_CLEANER_AREA_REACHABLE  uint8 = 20
+)
+
+type ErrorInfo struct {
+	msg.Package     `ros:"clean_msg"`
+	msg.Definitions `ros:"uint8 NORMAL=0,uint8 ERROR_CHARGER_NAVI=1,uint8 ERROR_PATH_FOLLOWER_NAVI=2,uint8 ERROR_NAVIGATOR_NAVI=3,uint8 ERROR_STANDBY_NAVI=4,uint8 ERROR_CHARGER_CHECK_STATION=5,uint8 ERROR_WALL_FOLLOWER_NAVI=6,uint8 ERROR_CHARGER_LOAD_STATION=7,uint8 ERROR_CHARGER_CHARGING=8,uint8 ERROR_WALL_FOLLOWER_WALL_REACHABLE=9,uint8 ERROR_START_TASK_MANUAL_CHARGING=10,uint8 ERROR_START_TASK_LOCALIZED=11,uint8 ERROR_START_TASK_OUT_OF_STATION=12,uint8 ERROR_START_TASK_LOAD_MAP=13,uint8 ERROR_START_TASK_BUMPING=14,uint8 ERROR_START_TASK_EMERGENCY_BUTTON=15,uint8 ERROR_START_TASK_LOW_BATTERY=16,uint8 ERROR_PATH_FOLLOWER_PATH_REACHABLE=17,uint8 ERROR_WALL_FOLLOWER_PLANNING=18,uint8 ERROR_LOCAL_PLANNER_PLANNING=19,uint8 ERROR_AREA_CLEANER_AREA_REACHABLE=20"`
+	EquipmentId     uint8
+	ErrorData       uint8
+}

pjibot_clean_msgs/clean_msg/msg_gridphits.go

@@ -0,0 +1,14 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type GridPhits struct {
+	msg.Package `ros:"clean_msg"`
+	X           int32
+	Y           int32
+	Angle       float32
+}

pjibot_clean_msgs/clean_msg/msg_gridposition.go

@@ -0,0 +1,13 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type GridPosition struct {
+	msg.Package `ros:"clean_msg"`
+	X           int32
+	Y           int32
+}

pjibot_clean_msgs/clean_msg/msg_partition.go

@@ -0,0 +1,17 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type Partition struct {
+	msg.Package      `ros:"clean_msg"`
+	MapName          string
+	PathName         string
+	PartitionSide    []GridPhits
+	CleanOrientation float32
+	CleanWalls       []AlongWallPath
+	CleanLabel       int32
+}

pjibot_clean_msgs/clean_msg/msg_partitionlist.go

@@ -0,0 +1,12 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type PartitionList struct {
+	msg.Package `ros:"clean_msg"`
+	Data        []Partition
+}

pjibot_clean_msgs/clean_msg/msg_path.go

@@ -0,0 +1,16 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type Path struct {
+	msg.Package `ros:"clean_msg"`
+	Radius      float32
+	Radio       int32
+	Data        []GridPhits
+	Path        []geometry_msgs.Vector3
+}

pjibot_clean_msgs/clean_msg/msg_pathlist.go

@@ -0,0 +1,14 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type PathList struct {
+	msg.Package `ros:"clean_msg"`
+	MapName     string
+	PathName    string
+	Data        []Path
+}

pjibot_clean_msgs/clean_msg/msg_rangelist.go

@@ -0,0 +1,13 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
+)
+
+type RangeList struct {
+	msg.Package `ros:"clean_msg"`
+	Range       []sensor_msgs.Range
+}

pjibot_clean_msgs/clean_msg/msg_sweepsystem.go

@@ -0,0 +1,22 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+)
+
+type SweepSystem struct {
+	msg.Package   `ros:"clean_msg"`
+	CleanModel    std_msgs.Bool
+	SwitchControl std_msgs.Bool
+	BesideBrush   std_msgs.Bool
+	MiddleBrush   std_msgs.Bool
+	PushBeam      std_msgs.Bool
+	Fan           std_msgs.Bool
+	WaterPump     std_msgs.Bool
+	VibratingDust std_msgs.Bool
+	Baffle        std_msgs.Bool
+	Lamp          std_msgs.Bool
+}

pjibot_clean_msgs/clean_msg/msg_task.go

@@ -0,0 +1,29 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+const (
+	Task_STANDBY          uint8 = 0
+	Task_PATH_FOLLOW      uint8 = 1
+	Task_GO_TO_TARGET     uint8 = 2
+	Task_GO_HOME          uint8 = 3
+	Task_ZONE_CLEAN       uint8 = 4
+	Task_WALLFOLLOW_LEFT  uint8 = 5
+	Task_WALLFOLLOW_RIGHT uint8 = 6
+	Task_GO_BACK          uint8 = 7
+	Task_AREA_NAVIGATOR   uint8 = 8
+)
+
+type Task struct {
+	msg.Package     `ros:"clean_msg"`
+	msg.Definitions `ros:"uint8 STANDBY=0,uint8 PATH_FOLLOW=1,uint8 GO_TO_TARGET=2,uint8 GO_HOME=3,uint8 ZONE_CLEAN=4,uint8 WALLFOLLOW_LEFT=5,uint8 WALLFOLLOW_RIGHT=6,uint8 GO_BACK=7,uint8 AREA_NAVIGATOR=8"`
+	Type            uint8
+	Data            TaskData
+	TaskId          string
+	TaskType        int32
+	SubTaskType     int32
+}

pjibot_clean_msgs/clean_msg/msg_taskdata.go

@@ -0,0 +1,21 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type TaskData struct {
+	msg.Package      `ros:"clean_msg"`
+	CleanPartion     Partition
+	CustomPath       PathList
+	NaviGoal         DestinationPoint
+	AlongWallPath    AlongWallPath
+	RecordPath       Partition
+	GlobleWallPath   []geometry_msgs.Vector3
+	RotateToGoal     bool
+	FindNearTarget   bool
+	IsArcSegmentPath bool
+}

pjibot_clean_msgs/clean_msg/msg_tasklist.go

@@ -0,0 +1,13 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type TaskList struct {
+	msg.Package `ros:"clean_msg"`
+	Data        []Task
+	Frequency   int64
+}

pjibot_clean_msgs/clean_msg/msg_virtualwalllist.go

@@ -0,0 +1,12 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type VirtualWallList struct {
+	msg.Package `ros:"clean_msg"`
+	Data        []PathList
+}

pjibot_clean_msgs/clean_msg/msg_washsystem.go

@@ -0,0 +1,19 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+)
+
+type WashSystem struct {
+	msg.Package      `ros:"clean_msg"`
+	CleanSwitch      std_msgs.Int8
+	BrushSwitch      std_msgs.Bool
+	BrushPush        std_msgs.Int8
+	SuctioNozzle     std_msgs.Bool
+	SuctioNozzlePush std_msgs.Int8
+	WaterPump        std_msgs.Bool
+	ElectricBall     std_msgs.Bool
+}

pjibot_clean_msgs/clean_msg/package.go

@@ -0,0 +1,5 @@
+// Package clean_msg contains message definitions.
+//
+//autogenerated:yes
+//nolint:revive
+package clean_msg

pjibot_clean_msgs/clean_msg/srv_checkcustompath.go

@@ -0,0 +1,23 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type CheckCustomPathReq struct {
+	msg.Package `ros:"clean_msg"`
+	Path        Path
+}
+
+type CheckCustomPathRes struct {
+	msg.Package `ros:"clean_msg"`
+	State       bool
+}
+
+type CheckCustomPath struct {
+	msg.Package `ros:"clean_msg"`
+	CheckCustomPathReq
+	CheckCustomPathRes
+}

pjibot_clean_msgs/clean_msg/srv_getalongwallpath.go

@@ -0,0 +1,24 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type GetAlongWallPathReq struct {
+	msg.Package `ros:"clean_msg"`
+	Direction   int64
+	Point       GridPosition
+}
+
+type GetAlongWallPathRes struct {
+	msg.Package `ros:"clean_msg"`
+	Points      []GridPhits
+}
+
+type GetAlongWallPath struct {
+	msg.Package `ros:"clean_msg"`
+	GetAlongWallPathReq
+	GetAlongWallPathRes
+}

pjibot_clean_msgs/clean_msg/srv_loadforbiddenarea.go

@@ -0,0 +1,24 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type LoadForbiddenAreaReq struct {
+	msg.Package `ros:"clean_msg"`
+	MapName     string
+	UncleanArea PartitionList
+}
+
+type LoadForbiddenAreaRes struct {
+	msg.Package `ros:"clean_msg"`
+	State       bool
+}
+
+type LoadForbiddenArea struct {
+	msg.Package `ros:"clean_msg"`
+	LoadForbiddenAreaReq
+	LoadForbiddenAreaRes
+}

pjibot_clean_msgs/clean_msg/srv_loadmap.go

@@ -0,0 +1,25 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type LoadMapReq struct {
+	msg.Package `ros:"clean_msg"`
+	MapName     string
+	UncleanArea PartitionList
+	Wall        VirtualWallList
+}
+
+type LoadMapRes struct {
+	msg.Package `ros:"clean_msg"`
+	State       bool
+}
+
+type LoadMap struct {
+	msg.Package `ros:"clean_msg"`
+	LoadMapReq
+	LoadMapRes
+}

pjibot_clean_msgs/clean_msg/srv_loadtask.go

@@ -0,0 +1,23 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type LoadTaskReq struct {
+	msg.Package `ros:"clean_msg"`
+	Info        TaskList
+}
+
+type LoadTaskRes struct {
+	msg.Package `ros:"clean_msg"`
+	ErrorCode   int8 `rosname:"errorCode"`
+}
+
+type LoadTask struct {
+	msg.Package `ros:"clean_msg"`
+	LoadTaskReq
+	LoadTaskRes
+}

pjibot_clean_msgs/clean_msg/srv_loadvirtualwall.go

@@ -0,0 +1,24 @@
+//autogenerated:yes
+//nolint:revive,lll
+package clean_msg
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type LoadVirtualWallReq struct {
+	msg.Package `ros:"clean_msg"`
+	MapName     string
+	Wall        VirtualWallList
+}
+
+type LoadVirtualWallRes struct {
+	msg.Package `ros:"clean_msg"`
+	State       bool
+}
+
+type LoadVirtualWall struct {
+	msg.Package `ros:"clean_msg"`
+	LoadVirtualWallReq
+	LoadVirtualWallRes
+}

pjibot_clean_msgs/clean_msg_msg/AlongWallPath.msg

@@ -0,0 +1,3 @@
+int64 direction                     # 0-右沿墙, 1-左沿墙
+clean_msg/GridPhits[] points        # [pixel], world coordinates
+int32 clean_label                   # 0-全图贴边  1-区域贴边

pjibot_clean_msgs/clean_msg_msg/DestinationPoint.msg

@@ -0,0 +1,2 @@
+float32 angle
+clean_msg/GridPosition position

pjibot_clean_msgs/clean_msg_msg/ErrorInfo.msg

@@ -0,0 +1,24 @@
+uint8 NORMAL = 0
+uint8 ERROR_CHARGER_NAVI = 1
+uint8 ERROR_PATH_FOLLOWER_NAVI = 2
+uint8 ERROR_NAVIGATOR_NAVI = 3
+uint8 ERROR_STANDBY_NAVI = 4
+uint8 ERROR_CHARGER_CHECK_STATION = 5
+uint8 ERROR_WALL_FOLLOWER_NAVI = 6
+uint8 ERROR_CHARGER_LOAD_STATION = 7
+uint8 ERROR_CHARGER_CHARGING = 8
+uint8 ERROR_WALL_FOLLOWER_WALL_REACHABLE = 9
+uint8 ERROR_START_TASK_MANUAL_CHARGING = 10
+uint8 ERROR_START_TASK_LOCALIZED = 11
+uint8 ERROR_START_TASK_OUT_OF_STATION = 12
+uint8 ERROR_START_TASK_LOAD_MAP = 13
+uint8 ERROR_START_TASK_BUMPING = 14
+uint8 ERROR_START_TASK_EMERGENCY_BUTTON = 15
+uint8 ERROR_START_TASK_LOW_BATTERY = 16
+uint8 ERROR_PATH_FOLLOWER_PATH_REACHABLE = 17
+uint8 ERROR_WALL_FOLLOWER_PLANNING = 18
+uint8 ERROR_LOCAL_PLANNER_PLANNING = 19
+uint8 ERROR_AREA_CLEANER_AREA_REACHABLE = 20
+
+uint8 equipment_id
+uint8 error_data

pjibot_clean_msgs/clean_msg_msg/GridPhits.msg

@@ -0,0 +1,3 @@
+int32 x
+int32 y
+float32 angle

pjibot_clean_msgs/clean_msg_msg/GridPosition.msg

@@ -0,0 +1,2 @@
+int32 x
+int32 y

pjibot_clean_msgs/clean_msg_msg/Partition.msg

@@ -0,0 +1,6 @@
+string map_name
+string path_name
+clean_msg/GridPhits[] partition_side    # [pixel], world coordinates
+float32 clean_orientation               # [rad], world coordinates
+clean_msg/AlongWallPath[] clean_walls   # [pixel], world coordinates
+int32 clean_label                       # 0-choose partition_side, others-choose segmented map

pjibot_clean_msgs/clean_msg_msg/PartitionList.msg

@@ -0,0 +1 @@
+clean_msg/Partition[] data

pjibot_clean_msgs/clean_msg_msg/Path.msg

@@ -0,0 +1,5 @@
+float32 radius
+int32 radio
+clean_msg/GridPhits[] data
+#实际坐标位置
+geometry_msgs/Vector3[] path

pjibot_clean_msgs/clean_msg_msg/PathList.msg

@@ -0,0 +1,3 @@
+string map_name
+string path_name
+clean_msg/Path[] data

pjibot_clean_msgs/clean_msg_msg/RangeList.msg

@@ -0,0 +1,2 @@
+#range sensor msg
+sensor_msgs/Range[] range

pjibot_clean_msgs/clean_msg_msg/SweepSystem.msg

@@ -0,0 +1,10 @@
+std_msgs/Bool clean_model
+std_msgs/Bool switch_control
+std_msgs/Bool beside_brush
+std_msgs/Bool middle_brush
+std_msgs/Bool push_beam
+std_msgs/Bool fan
+std_msgs/Bool water_pump
+std_msgs/Bool vibrating_dust
+std_msgs/Bool baffle
+std_msgs/Bool lamp

pjibot_clean_msgs/clean_msg_msg/Task.msg

@@ -0,0 +1,19 @@
+uint8 STANDBY = 0
+uint8 PATH_FOLLOW = 1
+uint8 GO_TO_TARGET = 2
+uint8 GO_HOME = 3
+uint8 ZONE_CLEAN = 4
+uint8 WALLFOLLOW_LEFT = 5
+uint8 WALLFOLLOW_RIGHT = 6
+uint8 GO_BACK = 7
+uint8 AREA_NAVIGATOR = 8
+
+uint8 type
+clean_msg/TaskData data
+
+#任务id
+string task_id
+#任务类型
+int32 task_type
+#子任务类型
+int32 sub_task_type

pjibot_clean_msgs/clean_msg_msg/TaskData.msg

@@ -0,0 +1,10 @@
+clean_msg/Partition clean_partion
+clean_msg/PathList custom_path
+clean_msg/DestinationPoint navi_goal
+clean_msg/AlongWallPath along_wall_path
+clean_msg/Partition record_path
+
+geometry_msgs/Vector3[] globle_wall_path
+bool rotate_to_goal
+bool find_near_target
+bool is_arc_segment_path

pjibot_clean_msgs/clean_msg_msg/TaskList.msg

@@ -0,0 +1,2 @@
+clean_msg/Task[] data
+int64 frequency

pjibot_clean_msgs/clean_msg_msg/VirtualWallList.msg

@@ -0,0 +1 @@
+clean_msg/PathList[] data

pjibot_clean_msgs/clean_msg_msg/WashSystem.msg

@@ -0,0 +1,7 @@
+std_msgs/Int8 clean_switch
+std_msgs/Bool brush_switch
+std_msgs/Int8 brush_push
+std_msgs/Bool suctio_nozzle
+std_msgs/Int8 suctio_nozzle_push
+std_msgs/Bool water_pump
+std_msgs/Bool electric_ball

pjibot_clean_msgs/common_msgs.go

@@ -1,22 +0,0 @@
-package pjibot_clean_msgs
-
-import (
-	"github.com/bluenviron/goroslib/v2/pkg/msg"
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
-)
-
-type SysInfo struct {
-	msg.Package    `ros:"common_msgs"`
-	CpuOccupied    float32 `rosname:"cpu_occupied"`
-	MemOccupied    float32 `rosname:"mem_occupied"`
-	CurMileage     float64 `rosname:"cur_mileage"`
-	HistoryMileage float64 `rosname:"history_mileage"`
-}
-
-type LocateInfo struct {
-	msg.Package  `ros:"common_msgs"`
-	Pose         geometry_msgs.PoseStamped `rosname:"pose"`
-	LocateStatus int8                      `rosname:"locate_status"`
-	ErrorCode    int64                     `rosname:"error_code"`
-	Message      string                    `rosname:"message"`
-}

pjibot_clean_msgs/common_msgs/msg_area.go

@@ -0,0 +1,15 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type Area struct {
+	msg.Package `ros:"common_msgs"`
+	Id          string
+	Type        int8
+	Points      []geometry_msgs.Vector3
+}

pjibot_clean_msgs/common_msgs/msg_beacon.go

@@ -0,0 +1,15 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type Beacon struct {
+	msg.Package `ros:"common_msgs"`
+	Id          string
+	Type        int32
+	Point       geometry_msgs.PoseStamped
+}

pjibot_clean_msgs/common_msgs/msg_createmapinfo.go

@@ -0,0 +1,13 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type CreateMapInfo struct {
+	msg.Package    `ros:"common_msgs"`
+	TrajectoryList []Trajectory
+	Points         []Beacon
+}

pjibot_clean_msgs/common_msgs/msg_evaluate.go

@@ -0,0 +1,17 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type Evaluate struct {
+	msg.Package `ros:"common_msgs"`
+	MapQuality  int16
+	MapRange    float32
+	DriftOdom   int16
+	DriftImu    int16
+	Pose        geometry_msgs.Pose
+}

pjibot_clean_msgs/common_msgs/msg_functionareas.go

@@ -0,0 +1,13 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type FunctionAreas struct {
+	msg.Package `ros:"common_msgs"`
+	MapId       string
+	RealAreas   []Area
+}

pjibot_clean_msgs/common_msgs/msg_identifierobj.go

@@ -0,0 +1,20 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type IdentifierObj struct {
+	msg.Package `ros:"common_msgs"`
+	Id          int8
+	Type        int16
+	IsClean     int8
+	Label       string
+	LeftTop     geometry_msgs.Vector3
+	RightTop    geometry_msgs.Vector3
+	LeftDown    geometry_msgs.Vector3
+	RightDown   geometry_msgs.Vector3
+}

pjibot_clean_msgs/common_msgs/msg_identifierobjsinfo.go

@@ -0,0 +1,14 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+)
+
+type IdentifierObjsInfo struct {
+	msg.Package `ros:"common_msgs"`
+	Header      std_msgs.Header
+	ObjsInfo    []IdentifierObj
+}

pjibot_clean_msgs/common_msgs/msg_lightinfo.go

@@ -0,0 +1,17 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type LightInfo struct {
+	msg.Package `ros:"common_msgs"`
+	HeadLight   float32
+	RingLight   float32
+	LedRed      float32
+	LedYellow   float32
+	LedBlue     float32
+	LedRatio    float32
+}

pjibot_clean_msgs/common_msgs/msg_locateinfo.go

@@ -0,0 +1,16 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type LocateInfo struct {
+	msg.Package  `ros:"common_msgs"`
+	Pose         geometry_msgs.PoseStamped
+	LocateStatus int8
+	ErrorCode    int64
+	Message      string
+}

pjibot_clean_msgs/common_msgs/msg_mapinfo.go

@@ -0,0 +1,17 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type MapInfo struct {
+	msg.Package `ros:"common_msgs"`
+	BuildId     string
+	BuildName   string `rosname:"buildName"`
+	Floor       int16
+	FloorId     string `rosname:"floorId"`
+	MapId       string `rosname:"mapId"`
+	MapName     string `rosname:"mapName"`
+}

pjibot_clean_msgs/common_msgs/msg_mcudiagnostic.go

@@ -0,0 +1,20 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type McuDiagnostic struct {
+	msg.Package          `ros:"common_msgs"`
+	EledriveSlightloss   int8 `rosname:"eledriveSlightloss"`
+	EledriveSevereloss   int8 `rosname:"eledriveSevereloss"`
+	BatterySlightloss    int8 `rosname:"batterySlightloss"`
+	BatterySevereloss    int8 `rosname:"batterySevereloss"`
+	SonarLeftSevereloss  int8 `rosname:"sonarLeftSevereloss"`
+	SonarMidSevereloss   int8 `rosname:"sonarMidSevereloss"`
+	SonarRightSevereloss int8 `rosname:"sonarRightSevereloss"`
+	BatteryLow           int8 `rosname:"batteryLow"`
+	BatteryHigh          int8 `rosname:"batteryHigh"`
+}

pjibot_clean_msgs/common_msgs/msg_points.go

@@ -0,0 +1,13 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type Points struct {
+	msg.Package `ros:"common_msgs"`
+	Points      []geometry_msgs.Vector3
+}

pjibot_clean_msgs/common_msgs/msg_sensorstatus.go

@@ -0,0 +1,14 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type SensorStatus struct {
+	msg.Package    `ros:"common_msgs"`
+	SonarState     bool
+	LinelightState bool
+	CameraState    bool
+}

pjibot_clean_msgs/common_msgs/msg_sensortask.go

@@ -0,0 +1,22 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type SensorTask struct {
+	msg.Package            `ros:"common_msgs"`
+	CloseSonar             bool
+	CloseCamera            bool
+	CloseBumper            bool
+	CloseLineLight         bool
+	CloseLaser             bool
+	CloseSonarFunction     bool
+	CloseLineLightFunction bool
+	CloseCameraFunction    bool
+	CloseBumperFunction    bool
+	CloseLaserFunction     bool
+	CloseCliffFunction     bool
+}

pjibot_clean_msgs/common_msgs/msg_sonarinfo.go

@@ -0,0 +1,12 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type SonarInfo struct {
+	msg.Package `ros:"common_msgs"`
+	SonarStatus []int8 `rosname:"sonarStatus"`
+}

pjibot_clean_msgs/common_msgs/msg_sonarlist.go

@@ -0,0 +1,13 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
+)
+
+type SonarList struct {
+	msg.Package `ros:"common_msgs"`
+	Range       []sensor_msgs.Range
+}

pjibot_clean_msgs/common_msgs/msg_sysinfo.go

@@ -0,0 +1,16 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type SysInfo struct {
+	msg.Package    `ros:"common_msgs"`
+	CpuOccupied    float32
+	MemOccupied    float32
+	CurMileage     float64
+	HistoryMileage float64
+	DiskOccupied   float64
+}

pjibot_clean_msgs/common_msgs/msg_taskfeedbackinfo.go

@@ -0,0 +1,15 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type TaskFeedbackInfo struct {
+	msg.Package   `ros:"common_msgs"`
+	TaskInfo      TaskInfo
+	TaskStatus    int8
+	TaskErrorCode int64
+	Message       string
+}

pjibot_clean_msgs/common_msgs/msg_taskinfo.go

@@ -0,0 +1,17 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type TaskInfo struct {
+	msg.Package        `ros:"common_msgs"`
+	TaskId             string
+	TaskType           int32
+	SubTaskType        int32
+	CleanProgress      float32
+	CurrentCleanedArea float32
+	NeedCleanArea      float32
+}

pjibot_clean_msgs/common_msgs/msg_trajectory.go

@@ -0,0 +1,14 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+)
+
+type Trajectory struct {
+	msg.Package `ros:"common_msgs"`
+	Id          string
+	Trajectory  []geometry_msgs.Vector3
+}

pjibot_clean_msgs/common_msgs/msg_uploadfilelist.go

@@ -0,0 +1,12 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type UpLoadFileList struct {
+	msg.Package `ros:"common_msgs"`
+	FileList    []string
+}

pjibot_clean_msgs/common_msgs/msg_videostream.go

@@ -0,0 +1,14 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type VideoStream struct {
+	msg.Package `ros:"common_msgs"`
+	Url         string
+	CameraId    int32
+	Open        bool
+}

pjibot_clean_msgs/common_msgs/msg_wifiinfo.go

@@ -0,0 +1,13 @@
+//autogenerated:yes
+//nolint:revive,lll
+package common_msgs
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msg"
+)
+
+type WifiInfo struct {
+	msg.Package `ros:"common_msgs"`
+	WifiName    string
+	Level       int32
+}

pjibot_clean_msgs/common_msgs/package.go

@@ -0,0 +1,5 @@
+// Package common_msgs contains message definitions.
+//
+//autogenerated:yes
+//nolint:revive
+package common_msgs