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@@ -1,203 +0,0 @@
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-collect-limit:
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- url: http://36.110.106.142:12341/web_server/collect_limit/can_collect
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- day: 1
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- week: 7
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- month: 31
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- year: 366
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-monitor:
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- url: http://36.110.106.142:12341/web_server/monitor/insert
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-platform:
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- # url-device-auth: http://1.202.169.139:8081/device/auth
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- # url-task-poll: http://1.202.169.139:8081/device/task/poll
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- # url-task: http://1.202.169.139:8081/device/task
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- url-device-auth: http://36.110.106.156:11121/device/auth
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- url-task-poll: http://36.110.106.156:11121/device/task/poll
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- url-task: http://36.110.106.156:11121/device/task
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-bag-number: 60
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-config-refresh-interval: 60
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-disk:
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- name: /dev/mmcblk0p8 # 磁盘名称
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- used: 20000000000 # 磁盘占用阈值，单位bytes
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-map-buf-files:
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- - /root/pjirobot/data/mapBuf/forbid_area.json
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- - /root/pjirobot/data/mapBuf/forbid_area.yaml
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- - /root/pjirobot/data/mapBuf/forbid_area_init.json
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- - /root/pjirobot/data/mapBuf/forbid_area_init.yaml
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- - /root/pjirobot/data/mapBuf/function_area.json
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- - /root/pjirobot/data/mapBuf/function_area_init.json
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- - /root/pjirobot/data/mapBuf/function_links.json
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- - /root/pjirobot/data/mapBuf/map.json
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- - /root/pjirobot/data/mapBuf/map.pbstream
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- - /root/pjirobot/data/mapBuf/map.pgm
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- - /root/pjirobot/data/mapBuf/map.yaml
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- - /root/pjirobot/data/mapBuf/map_type.json
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- - /root/pjirobot/data/mapBuf/param.yaml
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- - /root/pjirobot/data/mapBuf/stations.json
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- - /root/pjirobot/data/mapBuf/stations_init.json
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-map-bag-path: /root/cicv-data-closedloop/map.bag
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-#bag-data-dir: /root/cicv-data-closedloop/data/
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-#bag-copy-dir: /root/cicv-data-closedloop/copy/
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-#triggers-dir: /root/cicv-data-closedloop/triggers/
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-bag-data-dir: /root/pjirobot/data/cicv-data-closedloop/data/
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-bag-copy-dir: /root/pjirobot/data/cicv-data-closedloop/copy/
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-triggers-dir: /root/pjirobot/data/cicv-data-closedloop/triggers/
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-time-window-send-gap: 6
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-rpc-port: 12341
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-ros:
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- master-address: 192.168.1.104:11311
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- nodes:
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- - /amcl
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- - /ob_camera_01/camera
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- - /ob_camera_02/camera
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- - /node_diagnostics
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- - /localization_monitor_node
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- - /move_base
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- - /sensor_fusion_node
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- - /ltme_node
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- - /scan_map_icp_amcl_node
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- - /monitor
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-
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-hosts:
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- - name: node1
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- ip: 192.168.1.104
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- rosbag:
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- path: "/opt/ros/melodic/bin/rosbag"
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- envs:
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- - "C_INCLUDE_PATH=/usr/include/drm:"
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- - "USER=root"
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- - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
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- - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/opt/ros/melodic/lib/aarch64-linux-gnu"
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- - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
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- - "SHLVL=1"
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- - "HOME=/root"
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- - "ROS_PYTHON_VERSION=2"
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- - "PCMANFM_OUTLINE_MODE=on"
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- - "CPLUS_INCLUDE_PATH=/usr/include/drm:"
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- - "ROS_DISTRO=melodic"
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- - "ROS_VERSION=1"
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- - "PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig"
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- - "PATH=/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/go/bin:/root/go/bin"
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- - "ROS_ROOT=/opt/ros/melodic/share/ros"
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- - "ROSLISP_PACKAGE_DIRECTORIES="
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- - "ROS_MASTER_URI=http://192.168.1.104:11311"
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- - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/dist-packages"
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- - "ROS_HOSTNAME=192.168.1.104"
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- - "CMAKE_PREFIX_PATH=/opt/ros/melodic"
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- topics:
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- - /amcl_pose # /amcl
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- - /ob_camera_01/color/image_raw # /ob_camera_01/camera
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- # - /ob_camera_01/depth/points # /ob_camera_01/camera
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- - /ob_camera_02/color/image_raw # /ob_camera_02/camera
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- # - /ob_camera_02/depth/points # /ob_camera_02/camera
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- - /diagnostics # /amcl /node_diagnostics
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- - /locate_info # /localization_monitor_node
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- - /obstacle_detection # /move_base
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- - /odom # /sensor_fusion_node
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- - /move_base/global_costmap/costmap # /move_base
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- - /move_base/global_costmap/costmap_updates # /move_base
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- - /move_base/local_costmap/costmap # /move_base
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- - /move_base/local_costmap/costmap_updates # /move_base
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- - /scan # /ltme_node
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- - /scan_map_icp_amcl_node/scan_point_transformed # /scan_map_icp_amcl_node
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- - /sys_info
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- # - /cmd_vel
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- - /imu
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- # 算法评价新增
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- - /depth_scan_02
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- - /map
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- - /scan_filtered
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- - /sonar_left
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- - /sonar_right
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- - /sonar_mid
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- - /sonar_rmid
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- - /tf
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- - /tf_static
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- - /cmd_vel
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- - /move_base/DWAPlannerROS/global_plan
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- - /move_base/DWAPlannerROS/local_plan
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- - /move_base/GlobalPlanner/plan
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- - /move_base/global_costmap/footprint
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- - /move_base/local_costmap/footprint
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- - /robot_pose_tf
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-
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-
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-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
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-triggers:
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- - label: detectfault
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- topics:
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- - /camera/color/image_raw
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- - /camera/depth/points
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- - /diagnostics
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- - /locate_info
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- - /obstacle_detection
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- - /odom
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- - /move_base/global_costmap/costmap
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- - /move_base/global_costmap/costmap_updates
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- - /scan_map_icp_amcl_node/scan_point_transformed
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- - label: unstabledriving
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- topics:
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- - /camera/color/image_raw
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- - /camera/depth/points
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- - /diagnostics
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- - /locate_info
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- - /obstacle_detection
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- - /odom
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- - /move_base/global_costmap/costmap
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- - /move_base/global_costmap/costmap_updates
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- - /scan_map_icp_amcl_node/scan_point_transformed
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- - label: locationfailed
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- topics:
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- - /camera/color/image_raw
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- - /camera/depth/points
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- - /diagnostics
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- - /locate_info
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- - /obstacle_detection
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- - /odom
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- - /move_base/global_costmap/costmap
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- - /move_base/global_costmap/costmap_updates
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- - /scan_map_icp_amcl_node/scan_point_transformed
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- - label: obstacledetection
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- topics:
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- - /camera/color/image_raw
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- - /camera/depth/points
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- - /diagnostics
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- - /locate_info
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- - /obstacle_detection
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- - /odom
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- - /move_base/global_costmap/costmap
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- - /move_base/global_costmap/costmap_updates
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- - /scan_map_icp_amcl_node/scan_point_transformed
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- - label: overspeed
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- topics:
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- - /camera/color/image_raw
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- - /camera/depth/points
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- - /diagnostics
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- - /locate_info
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- - /obstacle_detection
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- - /odom
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- - /move_base/global_costmap/costmap
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- - /move_base/global_costmap/costmap_updates
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- - /scan_map_icp_amcl_node/scan_point_transformed
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- - label: cpuoveroccupied
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- topics:
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- - /camera/color/image_raw
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- - /camera/depth/points
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- - /diagnostics
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- - /locate_info
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- - /obstacle_detection
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- - /odom
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- - /move_base/global_costmap/costmap
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- - /move_base/global_costmap/costmap_updates
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- - /scan_map_icp_amcl_node/scan_point_transformed
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- - label: memoveroccupied
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- topics:
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- - /camera/color/image_raw
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- - /camera/depth/points
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- - /diagnostics
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- - /locate_info
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- - /obstacle_detection
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- - /odom
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- - /move_base/global_costmap/costmap
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- - /move_base/global_costmap/costmap_updates
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- - /scan_map_icp_amcl_node/scan_point_transformed
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