commit

aarch64/pjisuv/common/service/rosbag_record.go

@@ -51,13 +51,13 @@ func BagRecord(nodeName string) {
 		util.CreateDir(config.CloudConfig.BagDataDir)
 		//systemEnv := os.Environ()
 		//c_log.GlobalLogger.Info("系统环境变量为：", systemEnv)
-		c_log.GlobalLogger.Info("record环境变量为：", config.RosbagEnvs)
+		//c_log.GlobalLogger.Info("record环境变量为：", config.RosbagEnvs)
 		cmd, err := util.ExecuteWithEnvAndDirAsync(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
 		if err != nil {
 			c_log.GlobalLogger.Error("执行record命令", command, "出错：", err)
 			continue
 		}
-		c_log.GlobalLogger.Info("启动record命令成功。")
+		c_log.GlobalLogger.Infof("启动record命令【%v】成功。", cmd)
 
 		recordProcessPid := cmd.Process.Pid
 		var recordSubProcessPid int

aarch64/pjisuv/金龙车-cloud-config.yaml

@@ -31,25 +31,19 @@ hosts:
   - name: node1
     ip: 192.168.1.104
     rosbag:
-      path: "/opt/ros/melodic/bin/rosbag"
+      path: "/opt/ros/noetic/bin/rosbag"
       envs:
-        - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib/libaicc"
-        - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
-        - "USER=root"
-        - "ROS_OS_OVERRIDE=openembedded"
-        - "PWD=/mnt/media/sda1/cicv-data-closedloop"
-        - "HOME=/home/root"
-        - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
-        - "ROS_ROOT=/opt/ros/melodic/share/ros"
-        - "ROS_MASTER_URI=http://192.168.1.102:11311"
         - "ROS_VERSION=1"
-        - "ROS_PYTHON_VERSION=2"
-        - "ROS_IP=192.168.1.102"
-        - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
-        - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
-        - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin"
-        - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
-        - "ROS_DISTRO=melodic"
+        - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig"
+        - "ROS_PYTHON_VERSION=3"
+        - "ROS_PACKAGE_PATH=/opt/ros/noetic/share"
+        - "ROS_IP=192.168.1.104"
+        - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
+        - "ROS_MASTER_URI=http://192.168.1.104:11311"
+        - "ROS_HOSTNAME=192.168.1.104"
+        - "LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:/opt/ros/noetic/lib:/home/pji/Fast-DDS/install/lib"
+        - "ROS_ROOT=/opt/ros/noetic/share/ros"
+        - "ROS_DISTRO=noetic"
     topics:
       - /cam_3D # 感知
       - /car_wheel