commit

aarch64/pji/common/config/yaml/pjibot-P1YNYD1M228000127-cloud-config.yaml

@@ -69,7 +69,7 @@ hosts:
       - /locate_info # /localization_monitor_node
       - /obstacle_detection # /move_base
       - /odom # /sensor_fusion_node
-      - /move_base/global_costmap/costmap # /move_base
+#      - /move_base/global_costmap/costmap # /move_base # 只有1帧
       - /move_base/global_costmap/costmap_updates # /move_base
       - /move_base/local_costmap/costmap # /move_base
       - /move_base/local_costmap/costmap_updates # /move_base
@@ -80,14 +80,14 @@ hosts:
       - /imu
       # 算法评价新增
       - /depth_scan_02
-      - /map
+#      - /map # 只有1帧
       - /scan_filtered
       - /sonar_left
       - /sonar_right
       - /sonar_mid
       - /sonar_rmid
       - /tf
-      - /tf_static
+#      - /tf_static # 只有1帧
       - /cmd_vel
       - /move_base/DWAPlannerROS/global_plan
       - /move_base/DWAPlannerROS/local_plan

aarch64/pji/master/main.go

@@ -43,7 +43,7 @@ func init() {
 	go commonService.WaitKillSelf()
 	masterConfig.InitNacos()
 	// 先采集地图bag包
-	masterService.CollectMap()
+	masterService.CollectOneMsg()
 }
 
 func main() {