cicv_data_closed_loop/tools/record/main/main.go

package main

import (
	"cicv-data-closedloop/aarch64/pjibot_delivery/common/config"
	"cicv-data-closedloop/common/config/c_log"
	"cicv-data-closedloop/common/util"
)

func main() {
	// 定义一个字符串切片来存储转换后的结果
	envVars := []string{
		"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",
	}
	// 1 启动父命令
	c_log.GlobalLogger.Info("record 环境变量为：", config.RosbagEnvs)

	cmd, _ := util.ExecuteWithEnvAndDirAsync(config.RosbagEnvs, config.CloudConfig.BagDataDir, config.RosbagPath, command...)
	recordProcessPid := cmd.Process.Pid
	recordSubProcessPid, _ := util.GetSubProcessPid(recordProcessPid)
	c_log.GlobalLogger.Info("获取进程 ", recordProcessPid, " 的子进程的pid：", recordSubProcessPid)
}