feat：吉利感知差异触发器

trigger/jili/failure/camera/main/camera.go

@@ -0,0 +1,25 @@
+package main
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+)
+
+var (
+	topic = "/failure/camera"
+	label = "failurecamera"
+)
+
+func Topic() string {
+	return topic
+}
+
+func Label() string {
+	return label
+}
+
+func Rule(data *std_msgs.Bool) string {
+	if data.Data {
+		return label
+	}
+	return ""
+}

trigger/jili/failure/cameraLidarDiffer/main/CameraLidarDiffer.go

@@ -0,0 +1,25 @@
+package main
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+)
+
+var (
+	topic = "/failure/camera_lidar_differ"
+	label = "failureCameraLidarDiffer"
+)
+
+func Topic() string {
+	return topic
+}
+
+func Label() string {
+	return label
+}
+
+func Rule(data *std_msgs.Bool) string {
+	if data.Data {
+		return label
+	}
+	return ""
+}

trigger/jili/failure/cameraRadarDiffer/main/CameraRadarDiffer.go

@@ -0,0 +1,25 @@
+package main
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+)
+
+var (
+	topic = "/failure/camera_radar_differ"
+	label = "failureCameraRadarDiffer"
+)
+
+func Topic() string {
+	return topic
+}
+
+func Label() string {
+	return label
+}
+
+func Rule(data *std_msgs.Bool) string {
+	if data.Data {
+		return label
+	}
+	return ""
+}

trigger/jili/failure/lidar/main/lidar.go

@@ -0,0 +1,25 @@
+package main
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+)
+
+var (
+	topic = "/failure/lidar"
+	label = "failureLidar"
+)
+
+func Topic() string {
+	return topic
+}
+
+func Label() string {
+	return label
+}
+
+func Rule(data *std_msgs.Bool) string {
+	if data.Data {
+		return label
+	}
+	return ""
+}

trigger/jili/failure/outTrainsetDiffer/main/OutTrainsetDiffer.go

@@ -0,0 +1,25 @@
+package main
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+)
+
+var (
+	topic = "/failure/out_trainset_differ"
+	label = "failureOutTrainsetDiffer"
+)
+
+func Topic() string {
+	return topic
+}
+
+func Label() string {
+	return label
+}
+
+func Rule(data *std_msgs.Bool) string {
+	if data.Data {
+		return label
+	}
+	return ""
+}

trigger/jili/failure/radar/main/radar.go

@@ -0,0 +1,25 @@
+package main
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+)
+
+var (
+	topic = "/failure/radar"
+	label = "failureRadar"
+)
+
+func Topic() string {
+	return topic
+}
+
+func Label() string {
+	return label
+}
+
+func Rule(data *std_msgs.Bool) string {
+	if data.Data {
+		return label
+	}
+	return ""
+}

trigger/jili/failure/radarLidarDiffer/main/RadarLidarDiffer.go

@@ -0,0 +1,25 @@
+package main
+
+import (
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
+)
+
+var (
+	topic = "/failure/radar_lidar_differ"
+	label = "failureRadarLidarDiffer"
+)
+
+func Topic() string {
+	return topic
+}
+
+func Label() string {
+	return label
+}
+
+func Rule(data *std_msgs.Bool) string {
+	if data.Data {
+		return label
+	}
+	return ""
+}