commit

aarch64/pji/common/config/yaml/cloud-config-pji1.yaml

@@ -15,38 +15,23 @@ triggers-dir: /root/rosbag-handle/triggers/
 time-window-send-gap: 6
 rpc-port: 12341
 record-envs:
-  - "LESSOPEN=| /usr/bin/lesspipe %s"
   - "C_INCLUDE_PATH=/usr/include/drm:"
   - "USER=root"
-  - "SSH_CLIENT=10.1.136.99 54061 22"
   - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
-  - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/opt/ros/melodic/lib/aarch64-linux-gnu "
+  - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/opt/ros/melodic/lib/aarch64-linux-gnu"
   - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
   - "SHLVL=1"
   - "HOME=/root"
-  - "OLDPWD=/root/rosbag-handle/log"
-  - "SSH_TTY=/dev/pts/0"
   - "ROS_PYTHON_VERSION=2"
-  - "GOROOT=/usr/local/go"
   - "PCMANFM_OUTLINE_MODE=on"
   - "CPLUS_INCLUDE_PATH=/usr/include/drm:"
   - "ROS_DISTRO=melodic"
-  - "LOGNAME=root"
   - "ROS_VERSION=1"
   - "PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig"
-  - "XDG_SESSION_ID=5"
-  - "GST_GL_API=gles2"
   - "PATH=/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/go/bin:/root/go/bin"
-  - "XDG_RUNTIME_DIR=/run/user/0"
-  - "GST_GL_PLATFORM=egl"
-  - "LANG=C.UTF-8"
   - "ROS_ROOT=/opt/ros/melodic/share/ros"
   - "ROSLISP_PACKAGE_DIRECTORIES="
-  - "GOPATH=/root/go"
-  - "SHELL=/bin/bash"
   - "ROS_MASTER_URI=http://192.168.1.104:11311"
-  - "LESSCLOSE=/usr/bin/lesspipe %s %s"
-  - "PWD=/root/rosbag-handle"
   - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/dist-packages"
   - "ROS_HOSTNAME=192.168.1.104"
   - "CMAKE_PREFIX_PATH=/opt/ros/melodic"

aarch64/pji/common/service/rosbag_record.go

@@ -47,7 +47,7 @@ func BagRecord(nodeName string) {
 	parent:
 		for {
 			c_log.GlobalLogger.Info("record 环境变量为：", config.CloudConfig.RecordEnvs)
-			cmd, err = util.ExecuteWithEnvAndDirAsync(config.CloudConfig.RecordEnvs, config.CloudConfig.BagDataDir, "rosbag", command...)
+			cmd, err = util.ExecuteWithEnvAndDirAsync(config.CloudConfig.RecordEnvs, config.CloudConfig.BagDataDir, "/opt/ros/melodic/bin/rosbag", command...)
 			if err != nil {
 				c_log.GlobalLogger.Error("执行record命令", command, "出错：", err)
 				continue

aarch64/pjisuv/common/service/rosbag_record.go

@@ -40,14 +40,15 @@ func BagRecord(nodeName string) {
 		systemEnv := os.Environ()
 		c_log.GlobalLogger.Info("系统环境变量为：", systemEnv)
 		// 获取 record 命令环境变量
-		var recordEnv []string
+		var recordEnvs []string
 		for _, host := range config.CloudConfig.Hosts {
 			if host.Name == config.LocalConfig.Node.Name {
-				recordEnv = host.RecordEnvs
+				recordEnvs = host.RecordEnvs
 				break
 			}
 		}
-		cmd, err := util.ExecuteWithEnvAndDirAsync(recordEnv, config.CloudConfig.BagDataDir, "rosbag", command...)
+		c_log.GlobalLogger.Info("record 环境变量为：", recordEnvs)
+		cmd, err := util.ExecuteWithEnvAndDirAsync(recordEnvs, config.CloudConfig.BagDataDir, "/opt/ros/melodic/bin/rosbag", command...)
 		if err != nil {
 			c_log.GlobalLogger.Error("执行record命令", command, "出错：", err)
 			continue