commit

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

@@ -63,26 +63,23 @@ hosts:
         - "LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu"
         - "ROS_ROOT=/opt/ros/noetic/share/ros"
         - "ROS_DISTRO=noetic"
-    topics: # /robot_pose,/robot/realtime_cost_map_,/tracking/objects,/robot/TaskInfo,/robot/targetposition,/wheel,/wheel_odom,/robot/global_trajectory_,/robot/target_trajectories,/robot/evaluator_trajectories,/robot/final_trajectory,/nav/task_feedback_info,/cmd_vel,/imu,/points_cluster,/nav/task_feedback_info
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
+    topics: # /robot_pose,/robot/realtime_cost_map_,/tracking/objects,/robot/TaskInfo,/robot/targetposition,/wheel,/wheel_odom,/robot/global_trajectory_,/robot/target_trajectories,/robot/evaluator_trajectories,/robot/final_trajectory,/nav/task_feedback_info,/cmd_vel,/imu,/nav/task_feedback_info,/velodyne_points
+      - /robot_pose
+      - /robot/realtime_cost_map_
+      - /tracking/objects
+      - /robot/TaskInfo
+      - /robot/targetposition
+      - /wheel
+      - /wheel_odom
+      - /robot/global_trajectory_
+      - /robot/target_trajectories
+      - /robot/evaluator_trajectories
+      - /robot/final_trajectory
+      - /nav/task_feedback_info
+      - /cmd_vel
+      - /imu
+      - /nav/task_feedback_info
       - /velodyne_points
-      - /image_raw
-      - /prediction/motion_predictor/objects
 
 
 full-collect: true # 控制是否根据不同的触发器采集不通的topic，一般设置为true，即忽略下面的配置