commit

aarch64/pji/common/config/yaml/引导机器人默认配置文件双摄像头-cloud-config.yaml

@@ -14,31 +14,15 @@ platform:
   url-device-auth: http://36.110.106.156:11121/device/auth
   url-task-poll: http://36.110.106.156:11121/device/task/poll
   url-task: http://36.110.106.156:11121/device/task
-full-collect: false
 bag-number: 60
 config-refresh-interval: 60
 disk:
   name: /dev/mmcblk0p8 # 磁盘名称
-  used: 22000000000 # 磁盘占用阈值，单位bytes
-map-buf-files:
-  - /root/pjirobot/data/mapBuf/forbid_area.json
-  - /root/pjirobot/data/mapBuf/forbid_area.yaml
-  - /root/pjirobot/data/mapBuf/forbid_area_init.json
-  - /root/pjirobot/data/mapBuf/forbid_area_init.yaml
-  - /root/pjirobot/data/mapBuf/function_area.json
-  - /root/pjirobot/data/mapBuf/function_area_init.json
-  - /root/pjirobot/data/mapBuf/function_links.json
-  - /root/pjirobot/data/mapBuf/map.json
-  - /root/pjirobot/data/mapBuf/map.pbstream
-  - /root/pjirobot/data/mapBuf/map.pgm
-  - /root/pjirobot/data/mapBuf/map.yaml
-  - /root/pjirobot/data/mapBuf/map_type.json
-  - /root/pjirobot/data/mapBuf/param.yaml
-  - /root/pjirobot/data/mapBuf/stations.json
-  - /root/pjirobot/data/mapBuf/stations_init.json
+  used: 20000000000 # 磁盘占用阈值，单位bytes
 map-bag-path: /root/cicv-data-closedloop/map.bag
 #bag-data-dir: /root/cicv-data-closedloop/data/
 #bag-copy-dir: /root/cicv-data-closedloop/copy/
+#triggers-dir: /root/cicv-data-closedloop/triggers/
 bag-data-dir: /root/pjirobot/data/cicv-data-closedloop/data/
 bag-copy-dir: /root/pjirobot/data/cicv-data-closedloop/copy/
 triggers-dir: /root/pjirobot/data/cicv-data-closedloop/triggers/
@@ -122,6 +106,7 @@ hosts:
       - /robot_pose_tf
 
 
+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
 triggers:
   - label: detectfault
     topics: