commit

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

@@ -29,22 +29,6 @@ ros:
     - /ltme_node
     - /scan_map_icp_amcl_node
     - /monitor
-    # 算法评价新增
-    - /depth_scan_02
-    - /map
-    - /scan_filtered
-    - /sonar_left
-    - /sonar_right
-    - /sonar_mid
-    - /sonar_rmid
-    - /tf
-    - /tf_static
-    - /cmd_vel
-    - /move_base/DWAPlannerROS/global_plan
-    - /move_base/DWAPlannerROS/local_plan
-    - /move_base/GlobalPlanner/plan
-    - /move_base/global_costmap/footprint
-    - /move_base/local_costmap/footprint
 
 hosts:
   - name: node1
@@ -89,8 +73,24 @@ hosts:
       - /scan # /ltme_node
       - /scan_map_icp_amcl_node/scan_point_transformed # /scan_map_icp_amcl_node
       - /sys_info
-      - /cmd_vel
+#      - /cmd_vel
       - /imu
+      # 算法评价新增
+      - /depth_scan_02
+      - /map
+      - /scan_filtered
+      - /sonar_left
+      - /sonar_right
+      - /sonar_mid
+      - /sonar_rmid
+      - /tf
+      - /tf_static
+      - /cmd_vel
+      - /move_base/DWAPlannerROS/global_plan
+      - /move_base/DWAPlannerROS/local_plan
+      - /move_base/GlobalPlanner/plan
+      - /move_base/global_costmap/footprint
+      - /move_base/local_costmap/footprint
 
 
 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

trigger/pji/obstacle_detection/obstacledetection/main/main.go

@@ -1,21 +0,0 @@
-package main
-
-import (
-	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
-)
-
-func Topic() string {
-	return "/obstacle_detection"
-}
-
-func Label() string {
-	return "obstacledetection"
-}
-
-// TODO 如果速度很小则不触发
-func Rule(data *std_msgs.UInt8) string {
-	if data.Data == 3 {
-		return "obstacledetection"
-	}
-	return ""
-}