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