--- refresh-cloud-config: false compress-bag: false clean-before-start: false monitor: url: http://36.110.106.142:12341/web_server/monitor/insert platform: url-device-auth: http://1.202.169.139:8081/device/auth url-task-poll: http://1.202.169.139:8081/device/task/poll # url-task: http://1.202.169.139:8081/device/task url-task: http://82.156.39.136:8085/bservice/device/task ak: guoqi sk: 64fd3e1ffe3476e9e81f06cadd9da6dea1b428716da71545ad037a2fb3aefcb1 full-collect: true bag-number: 120 # 无人驾驶比赛期间，这里不需要缓存 config-refresh-interval: 60 disk: name: /dev/vdb # 磁盘名称 used: 900000000000 # 磁盘占用阈值，单位bytes path: - /mnt/media/sda1/cicv-data-closedloop bag-data-dir: /mnt/media/sda1/cicv-data-closedloop/data/ bag-copy-dir: /mnt/media/sda1/cicv-data-closedloop/copy/ time-to-label-json-path: /mnt/media/sda1/cicv-data-closedloop/timeToLabel.json triggers-dir: /mnt/media/sda1/cicv-data-closedloop/triggers/ time-window-send-gap: 6 tcp-port: 12340 rpc-port: 12341 ros: master-address: 192.168.1.104:11311 nodes: - /camera_output - /ins - /lidar_pretreatment # - /sensorfusion - /sensors_fusion_node - /control # /camera_image,/cicv_amr_trajectory,/pj_control_pub,/data_read,/tftrafficlight,/cicv_amr_trajectory,/trajectory_display,/reference_display,/reference_trajectory,/tprouteplan,/map_polygon,/vehicle_info,/target_line,/parking_line,/station_status,/pj_control_pub,/pj_control_debug_pub,/tar_traj_pub,/park_task,/parking_line,/map_display,/v2x_planner,/end_point_message,/heartbeat_info,/fault_info,/planning_fault_info,/nodefault_info,/points_concat,/tpperception,/cicv_location,/tpperception,/pull_over,/pj_vehicle_fdb_pub,/pre_line,/target_line,/amr_pose,/destination_pose,/lidar_roi,/obstacle_display,/target_point_pub,/fusion/traffic_light,/roi/polygon,/tpperception/vis hosts: - name: node1 ip: 192.168.1.104 rosbag: path: "/opt/ros/noetic/bin/rosbag" envs: - "SHELL=/bin/bash" - "ROS_VERSION=1" - "SUDO_GID=1000" - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig" - "ROS_PYTHON_VERSION=3" - "SUDO_COMMAND=/usr/bin/su" - "SUDO_USER=pji" - "ROS_PACKAGE_PATH=/opt/ros/noetic/share" - "ROSLISP_PACKAGE_DIRECTORIES=" - "PWD=/mnt/media/sda1/cicv-data-closedloop/data" - "LOGNAME=root" - "ROS_IP=192.168.1.104" - "HOME=/root" - "LANG=en_US.UTF-8" - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros" - "CMAKE_PREFIX_PATH=/opt/ros/noetic" - "LESSCLOSE=/usr/bin/lesspipe %s %s" - "PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages" - "USER=root" - "LD_LIBARAY_PATH=/usr/local/lib:" - "ROS_MASTER_URI=http://192.168.1.104:11311" - "ROS_HOSTNAME=192.168.1.104" - "LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu" - "PATH=/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin" - "ROS_ROOT=/opt/ros/noetic/share/ros" - "ROS_DISTRO=noetic" - "_=/usr/bin/env" topics: - /camera_image # /camera_output - /cicv_amr_trajectory - /pj_control_pub # /control - /data_read # gart多功能车没有（需亚伦部署） - /tftrafficlight - /trajectory_display - /reference_display - /reference_trajectory - /tprouteplan - /map_polygon - /vehicle_info - /target_line - /parking_line - /station_status - /pj_control_pub - /pj_control_debug_pub - /tar_traj_pub - /park_task - /parking_line - /map_display - /v2x_planner - /end_point_message - /heartbeat_info - /fault_info - /planning_fault_info # gart多功能车没有 - /nodefault_info - name: node2 ip: 192.168.1.105 rosbag: path: "/opt/ros/noetic/bin/rosbag" envs: - "SHELL=/bin/bash" - "ROS_VERSION=1" - "SUDO_GID=1000" - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig" - "ROS_PYTHON_VERSION=3" - "SUDO_COMMAND=/usr/bin/su" - "SUDO_USER=pji" - "ROS_PACKAGE_PATH=/opt/ros/noetic/share" - "ROSLISP_PACKAGE_DIRECTORIES=" - "PWD=/mnt/media/sda1/cicv-data-closedloop/data" - "LOGNAME=root" - "ROS_IP=192.168.1.105" - "HOME=/root" - "LANG=en_US.UTF-8" - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros" - "CMAKE_PREFIX_PATH=/opt/ros/noetic" - "LESSCLOSE=/usr/bin/lesspipe %s %s" - "PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages" - "USER=root" - "LD_LIBARAY_PATH=/usr/local/lib:" - "ROS_MASTER_URI=http://192.168.1.104:11311" - "ROS_HOSTNAME=192.168.1.104" - "LD_LIBRARY_PATH=/opt/ros/noetic/lib::/usr/local/cuda-11.4/lib64" - "PATH=/home/pji/.local/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/cuda-11.4/bin:/home/pji/.local/bin" - "ROS_ROOT=/opt/ros/noetic/share/ros" - "ROS_DISTRO=noetic" - "_=/usr/bin/env" topics: - /points_concat # /lidar_pretreatment - /tpperception # /sensorfusion - /cicv_location # /ins - /tpperception - /pull_over - /pj_vehicle_fdb_pub - /pre_line - /target_line - /amr_pose - /destination_pose - /lidar_roi - /obstacle_display - /target_point_pub - /fusion/traffic_light # gart多功能车没有 - /roi/polygon - /tpperception/vis # gart多功能车没有 triggers: - label: rapidaccel topics: - /tpperception - /points_concat - /cicv_location - /camera_image - label: brake topics: - /tpperception - /points_concat - /cicv_location - /camera_image - label: EmergencyStop topics: - /tpperception - /points_concat - /cicv_location - /camera_image - label: AutoDLimit topics: - /tpperception - /points_concat - /cicv_location - /camera_image - label: lanechange topics: - /tpperception - /points_concat - /cicv_location - /camera_image - label: brakefault topics: - /tpperception - /points_concat - /cicv_location - /camera_image - label: takeover topics: - /tpperception - /points_concat - /cicv_location - /camera_image - label: TTC topics: - /tpperception - /points_concat - /cicv_location - /camera_image