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- ---
- collect-limit:
- url: http://36.110.106.142:12341/web_server/collect_limit/can_collect
- 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
- day: 10
- week: 70
- month: 120
- year: 144
- collect-num-plus:
- url: http://36.110.106.142:12341/web_server/collect_limit/plus_collect_num
- 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: # 存储用的挂载点限制阈值，防止磁盘爆满
- name: /dev/mmcblk0p8 # 磁盘名称
- used: 20000000000 # 磁盘占用阈值，单位bytes
- path: # 扫描的目录
- - /root/cicv-data-closedloop
- - /root/pjirobot/data/cicv-data-closedloop
- 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
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