commit

aarch64/pjibot_delivery/common/service/rosbag_record.go

@@ -10,7 +10,7 @@ import (
 	"time"
 )
 
-// BagRecord 打包rosbag
+// 打包rosbag
 func BagRecord(nodeName string) {
 	var err error
 	c_log.GlobalLogger.Info("rosbag record goroutine - 启动")
@@ -30,7 +30,7 @@ func BagRecord(nodeName string) {
 		command = append(command, "--duration=1")
 		for _, host := range config.CloudConfig.Hosts {
 			if host.Name == nodeName {
-				// 配置文件中的是node1和node2各自的所有topic，platformConfig中配置用户想缓存的topic，取交集
+				// platformConfig中配置用户想缓存的topic，配置文件中的是node1和node2各自的所有topic，取交集
 				for _, topic1 := range config.RecordTopics {
 					for _, topic2 := range host.Topics {
 						if topic1 == topic2 {

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

@@ -70,18 +70,17 @@ hosts:
       - /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
       - /velodyne_points
       - /gnss
+      - /obstacle_detection
 
 
 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/pjibot_guide/common/service/rosbag_record.go

@@ -30,7 +30,7 @@ func BagRecord(nodeName string) {
 		command = append(command, "--duration=1")
 		for _, host := range config.CloudConfig.Hosts {
 			if host.Name == nodeName {
-				// 配置文件中的是node1和node2各自的所有topic，platformConfig中配置用户想缓存的topic，取交集
+				// platformConfig中配置用户想缓存的topic，配置文件中的是node1和node2各自的所有topic，取交集
 				for _, topic1 := range config.RecordTopics {
 					for _, topic2 := range host.Topics {
 						if topic1 == topic2 {

aarch64/pjibot_patrol/common/service/rosbag_record.go

@@ -10,7 +10,7 @@ import (
 	"time"
 )
 
-// BagRecord 打包rosbag
+// 打包rosbag
 func BagRecord(nodeName string) {
 	var err error
 	c_log.GlobalLogger.Info("rosbag record goroutine - 启动")
@@ -30,7 +30,7 @@ func BagRecord(nodeName string) {
 		command = append(command, "--duration=1")
 		for _, host := range config.CloudConfig.Hosts {
 			if host.Name == nodeName {
-				// 配置文件中的是node1和node2各自的所有topic，platformConfig中配置用户想缓存的topic，取交集
+				// platformConfig中配置用户想缓存的topic，配置文件中的是node1和node2各自的所有topic，取交集
 				for _, topic1 := range config.RecordTopics {
 					for _, topic2 := range host.Topics {
 						if topic1 == topic2 {