commit

aarch64/pjibot_delivery/配送机器人默认配置文件-cloud-config.yaml

@@ -1,11 +1,10 @@
 ---
 collect-limit:
   url: http://36.110.106.142:12341/web_server/collect_limit/can_collect
-  flag: 1 # 数采频率限制标志 0 - 关闭数采频率限制  1 - 开启数采频率限制
-  day: 1
-  week: 3
-  month: 12
-  year: 144
+  day: 3
+  week: 7
+  month: 30
+  year: 365
 monitor:
   url: http://36.110.106.142:12341/web_server/monitor/insert
 platform:
@@ -13,13 +12,11 @@ platform:
   url-task-poll: http://36.110.106.156:11121/device/task/poll
   url-task: http://36.110.106.156:11121/device/task
 
-bag-number: 60
+bag-number: 30
 config-refresh-interval: 60
 disk:
   name: /dev/nvme0n1p1 # 磁盘名称
-  used: 107000000000 # 磁盘占用阈值，单位bytes
-  path:
-    - /home/pji/cicv-data-closedloop
+  used: 108000000000 # 磁盘占用阈值，单位bytes
 has-one-msg: false
 bag-data-dir: /home/pji/cicv-data-closedloop/data/
 bag-copy-dir: /home/pji/cicv-data-closedloop/copy/
@@ -66,17 +63,19 @@ hosts:
         - "LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu"
         - "ROS_ROOT=/opt/ros/noetic/share/ros"
         - "ROS_DISTRO=noetic"
-    topics: # 这里加完了新话题还需要在数据闭环平台修改设备信息 # /robot_pose,/robot/realtime_cost_map_,/tracking/objects,/robot/TaskInfo,/robot/targetposition,/wheel,/wheel_odom,/robot/global_trajectory_,/robot/target_trajectories,/robot/evaluator_trajectories,/robot/final_trajectory,/nav/task_feedback_info,/cmd_vel,/imu,/nav/task_feedback_info,/velodyne_points
+    topics: # /robot_pose,/robot/realtime_cost_map_,/tracking/objects,/robot/TaskInfo,/robot/targetposition,/wheel,/wheel_odom,/robot/global_trajectory_,/robot/target_trajectories,/robot/evaluator_trajectories,/robot/final_trajectory,/nav/task_feedback_info,/cmd_vel,/imu,/nav/task_feedback_info,/velodyne_points
       - /robot_pose
       - /robot/realtime_cost_map_
       - /tracking/objects
       - /robot/TaskInfo
       - /robot/targetposition
       - /wheel
+      - /wheel_odom
       - /robot/global_trajectory_
       - /robot/target_trajectories
       - /robot/evaluator_trajectories
       - /robot/final_trajectory
+      - /nav/task_feedback_info
       - /cmd_vel
       - /imu
       - /points_cluster
@@ -84,6 +83,10 @@ hosts:
       - /velodyne_points
       - /gnss
       - /obstacle_detection
+      - /detection/image_detector/objects
+      - /image_raw
+      - /robot/targetposition
+      - /robot/planning_end_pose
 
 
 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

aarch64/pjibot_patrol/巡检机器人默认配置文件-cloud-config.yaml

@@ -1,11 +1,10 @@
 ---
 collect-limit:
   url: http://36.110.106.142:12341/web_server/collect_limit/can_collect
-  flag: 1 # 数采频率限制标志 0 - 关闭数采频率限制  1 - 开启数采频率限制
-  day: 1
-  week: 3
-  month: 12
-  year: 144
+  day: 3
+  week: 7
+  month: 30
+  year: 365
 monitor:
   url: http://36.110.106.142:12341/web_server/monitor/insert
 platform:
@@ -13,14 +12,12 @@ platform:
   url-task-poll: http://36.110.106.156:11121/device/task/poll
   url-task: http://36.110.106.156:11121/device/task
 
-bag-number: 60
+bag-number: 30
 config-refresh-interval: 60
 disk:
   name: /dev/nvme0n1p1 # 磁盘名称
-  used: 100000000000 # 100G 磁盘占用阈值，单位bytes
-  path:
-    - /home/pji/cicv-data-closedloop
-has-one-msg-topic: false
+  used: 108000000000 # 磁盘占用阈值，单位bytes
+has-one-msg: false
 bag-data-dir: /home/pji/cicv-data-closedloop/data/
 bag-copy-dir: /home/pji/cicv-data-closedloop/copy/
 triggers-dir: /home/pji/cicv-data-closedloop/triggers/
@@ -66,23 +63,30 @@ hosts:
         - "LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu"
         - "ROS_ROOT=/opt/ros/noetic/share/ros"
         - "ROS_DISTRO=noetic"
-    topics: # /robot_pose,/robot/realtime_cost_map_,/tracking/objects,/robot/TaskInfo,/robot/targetposition,/wheel,/wheel_odom,/robot/global_trajectory_,/robot/target_trajectories,/robot/evaluator_trajectories,/robot/final_trajectory,/nav/task_feedback_info,/cmd_vel,/imu,/points_cluster,/nav/task_feedback_info
-      - /robot_pose # /location_realtime
-      - /robot/realtime_cost_map_ # /cloud_to_map_node
-      - /tracking/objects # /tracking/imm_ukf_pda_track
-      - /robot/TaskInfo # /task_decision
-      - /robot/targetposition # /task_decision、/trajectorygenerator
-      - /wheel # /trii_receive
-      - /wheel_odom # /wheel_odom
-      - /robot/global_trajectory_ # /lanelet_routing_node
-      - /robot/target_trajectories # /trajectorygenerator
-      - /robot/evaluator_trajectories # /trajectoryevaluator
-      - /robot/final_trajectory # /trajectoryevaluator
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
-      - /cmd_vel # /purepursuit、/auto_dock、/engine
-      - /imu # /trii_receive
-      - /points_cluster # /lidar_euclidean_cluster_detect
-      - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
+    topics: # /robot_pose,/robot/realtime_cost_map_,/tracking/objects,/robot/TaskInfo,/robot/targetposition,/wheel,/wheel_odom,/robot/global_trajectory_,/robot/target_trajectories,/robot/evaluator_trajectories,/robot/final_trajectory,/nav/task_feedback_info,/cmd_vel,/imu,/nav/task_feedback_info,/velodyne_points
+      - /robot_pose
+      - /robot/realtime_cost_map_
+      - /tracking/objects
+      - /robot/TaskInfo
+      - /robot/targetposition
+      - /wheel
+      - /wheel_odom
+      - /robot/global_trajectory_
+      - /robot/target_trajectories
+      - /robot/evaluator_trajectories
+      - /robot/final_trajectory
+      - /nav/task_feedback_info
+      - /cmd_vel
+      - /imu
+      - /points_cluster
+      - /nav/task_feedback_info
+      - /velodyne_points
+      - /gnss
+      - /obstacle_detection
+      - /detection/image_detector/objects
+      - /image_raw
+      - /robot/targetposition
+      - /robot/planning_end_pose
 
 
 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