commit

aarch64/pji/common/service/rosbag_record.go

@@ -10,6 +10,21 @@ import (
 	"time"
 )
 
+var (
+	recordEnv = []string{
+		"PATH=/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/go/bin:/root/go/bin",
+		"ROS_PACKAGE_PATH=/opt/ros/melodic/share",
+		"LD_LIBRARY_PATH=/opt/ros/melodic/lib:/opt/ros/melodic/lib/aarch64-linux-gnu",
+		"ROS_ETC_DIR=/opt/ros/melodic/etc/ros",
+		"ROS_PYTHON_VERSION=2",
+		"ROS_DISTRO=melodic",
+		"ROS_VERSION=1",
+		"PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig",
+		"ROS_HOSTNAME=192.168.1.104",
+		"ROS_MASTER_URI=http://192.168.1.104:11311",
+	}
+)
+
 // BagRecord 打包rosbag
 func BagRecord(nodeName string) {
 	var err error
@@ -44,7 +59,7 @@ func BagRecord(nodeName string) {
 		var cmd *exec.Cmd
 	parent:
 		for {
-			allEnv := append(os.Environ(), "ROS_HOSTNAME=192.168.1.104", "ROS_MASTER_URI=http://192.168.1.104:11311")
+			allEnv := append(os.Environ(), recordEnv...)
 			c_log.GlobalLogger.Info("全部环境变量为：", allEnv)
 			cmd, err = util.ExecuteWithEnvAndDirAsync(allEnv, config.CloudConfig.BagDataDir, "/opt/ros/melodic/bin/rosbag", command...)
 			if err != nil {