commit

README.md

@@ -14,4 +14,8 @@ sh build.sh
 cd /root/mlx/
 docker cp 23e9164d44d7:/root/cicv-data-closedloop ./
 
-find ./data -type f | wc -l
+find ./data -type f | wc -l
+
+
+# 启动 arm64 容器
+sudo docker run -itd -p 12340:12340 -p 9849:22 --rm --name aarch64ubuntu18 --platform linux/arm64/v8 rosbag-handle-compile:v20240117.4 /bin/bash

kinglong/common/cfg/cloud-config-v2304.yaml

@@ -21,7 +21,6 @@ ros:
     - /ObstacleInfo
     - /ObstacleInfo_zd
     - /Trajectorydisplay
-    - /camera_output
     - /ch128x1/lslidar_driver_node
     - /ch64_left/lslidar_driver_node
     - /ch64_mid/lslidar_driver_node

kinglong/master/pkg/svc/produce_window.go

@@ -29,7 +29,7 @@ var (
 
 // PrepareTimeWindowProducerQueue 负责监听所有主题并修改时间窗口
 func PrepareTimeWindowProducerQueue() {
-	log.GlobalLogger.Info("------- 主节点监听线程，启动！-------")
+	log.GlobalLogger.Info("订阅者 goroutine，启动。")
 
 	//创建订阅者0订阅主题 nodefault_info
 	log.GlobalLogger.Info("创建订阅者0订阅话题 ", masterConfig.TopicOfNodeFaultInfo)