commit

aarch64/pji/common/config/yaml/cloud-config-pji1.yaml

@@ -9,9 +9,9 @@ config-refresh-interval: 60
 disk:
   name: /dev/mmcblk0p8 # 磁盘名称
   used: 20000000000 # 磁盘占用阈值，单位bytes
-bag-data-dir: /root/rosbag-handle/data/
-bag-copy-dir: /root/rosbag-handle/copy/
-triggers-dir: /root/rosbag-handle/triggers/
+bag-data-dir: /root/cicv-data-closedloop/data/
+bag-copy-dir: /root/cicv-data-closedloop/copy/
+triggers-dir: /root/cicv-data-closedloop/triggers/
 time-window-send-gap: 6
 rpc-port: 12341
 ros:

aarch64/pji/common/config/yaml/local-config-pji1.yaml

@@ -3,7 +3,7 @@ node:
   ip: 192.168.1.104
 # 数据闭环平台参数
 equipment-no: pji1
-secret-key: K0HDMoceI4BXUOEx0c1PlRK7CdZ9dhUNYA66iKfk
+secret-key: aaMAhV7frxkJt9RL7Go8HZO14n28ejF90cIogxP7
 # 获取oss连接信息的接口url
 url-get-oss-config: http://36.110.106.156:18379/oss/config?token=nXonLUcMtGcrQqqKiyygIwyVbvizE0wD
 # 金龙车数据前缀
@@ -11,9 +11,9 @@ oss-base-prefix: pji/
 # oss上的配置文件的名称
 cloud-config-filename: cloud-config.yaml
 # 将oss上的配置文件下载到本地的路径
-cloud-config-local-path: /root/rosbag-handle/config/cloud-config.yaml
+cloud-config-local-path: /root/cicv-data-closedloop/config/cloud-config.yaml
 restart-cmd:
-  dir: "/root/rosbag-handle/"
+  dir: "/root/cicv-data-closedloop/"
   name: "sh"
   args:
     - "start-master.sh"

aarch64/pjisuv/common/service/rosbag_record.go

@@ -39,6 +39,7 @@ func BagRecord(nodeName string) {
 		_ = util.CreateParentDir(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)
 		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)

trigger/pjisuv/cicv_location/brake/main/brake.go

@@ -13,7 +13,7 @@ func Label() string {
 }
 
 func Rule(data *pjisuv_msgs.PerceptionLocalization) string {
-	if data.AccelX*9.8 < -4.0 {
+	if data.AccelX*9.8 < -5.0 {
 		return "brake"
 	} else {
 		return ""