commit

aarch64/pji/common/config/yaml/pjibot-P1YNYD1M228000127-cloud-config.yaml

@@ -69,7 +69,7 @@ hosts:
       - /locate_info # /localization_monitor_node
       - /obstacle_detection # /move_base
       - /odom # /sensor_fusion_node
-#      - /move_base/global_costmap/costmap # /move_base # 只有1帧
+      - /move_base/global_costmap/costmap # /move_base # 只有1帧
       - /move_base/global_costmap/costmap_updates # /move_base
       - /move_base/local_costmap/costmap # /move_base
       - /move_base/local_costmap/costmap_updates # /move_base
@@ -80,20 +80,21 @@ hosts:
       - /imu
       # 算法评价新增
       - /depth_scan_02
-#      - /map # 只有1帧
+      - /map # 只有1帧
       - /scan_filtered
       - /sonar_left
       - /sonar_right
       - /sonar_mid
       - /sonar_rmid
       - /tf
-#      - /tf_static # 只有1帧
+      - /tf_static # 只有1帧
       - /cmd_vel
       - /move_base/DWAPlannerROS/global_plan
       - /move_base/DWAPlannerROS/local_plan
       - /move_base/GlobalPlanner/plan
       - /move_base/global_costmap/footprint
       - /move_base/local_costmap/footprint
+      - /robot_pose_tf
 
 
 full-collect: true # 控制是否根据不同的触发器采集不通的topic，一般设置为true，即忽略下面的配置

aarch64/pji/common/config/yaml/双摄像头-cloud-config.yaml

@@ -92,6 +92,7 @@ hosts:
       - /move_base/GlobalPlanner/plan
       - /move_base/global_costmap/footprint
       - /move_base/local_costmap/footprint
+      - /robot_pose_tf
 
 
 triggers: