--- collect-limit: url: http://36.110.106.142:12341/web_server/collect_limit/can_collect day: 1 week: 3 month: 12 year: 144 monitor: url: http://36.110.106.142:12341/web_server/monitor/insert 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 bag-number: 60 config-refresh-interval: 60 disk: name: /dev/mmcblk0p8 # 磁盘名称 used: 20000000000 # 磁盘占用阈值，单位bytes data-dir: src: /root/pjirobot/ # 需要额外采集的 data 目录 src-sub: - data/config - data/map - data/mapBuf dest: /root/pjirobot/data.zip 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 map-bag-path: /root/cicv-data-closedloop/map.bag 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/ time-window-send-gap: 6 rpc-port: 12341 ros: master-address: 192.168.1.104:11311 nodes: - /amcl - /ob_camera_01/camera - /ob_camera_02/camera - /node_diagnostics - /localization_monitor_node - /move_base - /sensor_fusion_node - /ltme_node - /scan_map_icp_amcl_node - /monitor hosts: - name: node1 ip: 192.168.1.104 rosbag: path: "/opt/ros/melodic/bin/rosbag" envs: - "C_INCLUDE_PATH=/usr/include/drm:" - "USER=root" - "ROS_PACKAGE_PATH=/opt/ros/melodic/share" - "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" - "ROS_PYTHON_VERSION=2" - "PCMANFM_OUTLINE_MODE=on" - "CPLUS_INCLUDE_PATH=/usr/include/drm:" - "ROS_DISTRO=melodic" - "ROS_VERSION=1" - "PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig" - "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" - "ROS_ROOT=/opt/ros/melodic/share/ros" - "ROSLISP_PACKAGE_DIRECTORIES=" - "ROS_MASTER_URI=http://192.168.1.104:11311" - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/dist-packages" - "ROS_HOSTNAME=192.168.1.104" - "CMAKE_PREFIX_PATH=/opt/ros/melodic" topics: # /amcl_pose,/ob_camera_01/color/image_raw,/ob_camera_02/color/image_raw,/diagnostics,/locate_info,/obstacle_detection,/odom,/move_base/global_costmap/costmap,/move_base/global_costmap/costmap_updates,/move_base/local_costmap/costmap,/move_base/local_costmap/costmap_updates,/scan,/scan_map_icp_amcl_node/scan_point_transformed,/sys_info,/imu,/depth_scan_02,/map,/scan_filtered,/sonar_left,/sonar_right,/sonar_mid,/sonar_rmid,/tf,/tf_static,/cmd_vel,/move_base/DWAPlannerROS/global_plan,/move_base/DWAPlannerROS/local_plan,/move_base/GlobalPlanner/plan,/move_base/global_costmap/footprint,/move_base/local_costmap/footprint,/robot_pose_tf - /amcl_pose # /amcl - /ob_camera_01/color/image_raw # /ob_camera_01/camera # - /ob_camera_01/depth/points # /ob_camera_01/camera - /ob_camera_02/color/image_raw # /ob_camera_02/camera # - /ob_camera_02/depth/points # /ob_camera_02/camera - /diagnostics # /amcl /node_diagnostics - /locate_info # /localization_monitor_node - /obstacle_detection # /move_base - /odom # /sensor_fusion_node - /move_base/global_costmap/costmap # /move_base - /move_base/global_costmap/costmap_updates # /move_base - /move_base/local_costmap/costmap # /move_base - /move_base/local_costmap/costmap_updates # /move_base - /scan # /ltme_node - /scan_map_icp_amcl_node/scan_point_transformed # /scan_map_icp_amcl_node - /sys_info # - /cmd_vel - /imu # 算法评价新增 - /depth_scan_02 - /map - /scan_filtered - /sonar_left - /sonar_right - /sonar_mid - /sonar_rmid - /tf - /tf_static - /cmd_vel - /move_base/DWAPlannerROS/global_plan - /move_base/DWAPlannerROS/local_plan - /move_base/GlobalPlanner/plan - /move_base/global_costmap/footprint - /move_base/local_costmap/footprint - /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: - /camera/color/image_raw - /camera/depth/points - /diagnostics - /locate_info - /obstacle_detection - /odom - /move_base/global_costmap/costmap - /move_base/global_costmap/costmap_updates - /scan_map_icp_amcl_node/scan_point_transformed - label: unstabledriving topics: - /camera/color/image_raw - /camera/depth/points - /diagnostics - /locate_info - /obstacle_detection - /odom - /move_base/global_costmap/costmap - /move_base/global_costmap/costmap_updates - /scan_map_icp_amcl_node/scan_point_transformed - label: locationfailed topics: - /camera/color/image_raw - /camera/depth/points - /diagnostics - /locate_info - /obstacle_detection - /odom - /move_base/global_costmap/costmap - /move_base/global_costmap/costmap_updates - /scan_map_icp_amcl_node/scan_point_transformed - label: obstacledetection topics: - /camera/color/image_raw - /camera/depth/points - /diagnostics - /locate_info - /obstacle_detection - /odom - /move_base/global_costmap/costmap - /move_base/global_costmap/costmap_updates - /scan_map_icp_amcl_node/scan_point_transformed - label: overspeed topics: - /camera/color/image_raw - /camera/depth/points - /diagnostics - /locate_info - /obstacle_detection - /odom - /move_base/global_costmap/costmap - /move_base/global_costmap/costmap_updates - /scan_map_icp_amcl_node/scan_point_transformed - label: cpuoveroccupied topics: - /camera/color/image_raw - /camera/depth/points - /diagnostics - /locate_info - /obstacle_detection - /odom - /move_base/global_costmap/costmap - /move_base/global_costmap/costmap_updates - /scan_map_icp_amcl_node/scan_point_transformed - label: memoveroccupied topics: - /camera/color/image_raw - /camera/depth/points - /diagnostics - /locate_info - /obstacle_detection - /odom - /move_base/global_costmap/costmap - /move_base/global_costmap/costmap_updates - /scan_map_icp_amcl_node/scan_point_transformed