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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: 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/nvme0n1p1 # 磁盘名称
- used: 107000000000 # 磁盘占用阈值，单位bytes
- path:
- - /home/pji/cicv-data-closedloop
- has-one-msg: false
- bag-data-dir: /home/pji/cicv-data-closedloop/data/
- bag-copy-dir: /home/pji/cicv-data-closedloop/copy/
- triggers-dir: /home/pji/cicv-data-closedloop/triggers/
- time-window-send-gap: 6
- rpc-port: 12341
- ros:
- master-address: 192.168.1.104:11311
- nodes:
- - /location_realtime
- - /cloud_to_map_node
- - /tracking/imm_ukf_pda_track
- - /task_decision
- - /trajectorygenerator
- - /trajectoryevaluator
- - /trii_receive
- - /wheel_odom
- - /lanelet_routing_node
- - /purepursuit
- - /auto_dock
- - /engine
- - /trii_receive
- - /lidar_euclidean_cluster_detect
- hosts:
- - name: node1
- ip: 192.168.1.104
- rosbag:
- path: "/opt/ros/noetic/bin/rosbag"
- envs:
- - "ROS_VERSION=1"
- - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig:/opt/ros/noetic/lib/aarch64-linux-gnu/pkgconfig"
- - "ROS_PYTHON_VERSION=3"
- - "ROS_PACKAGE_PATH=/opt/ros/noetic/share"
- - "ROSLISP_PACKAGE_DIRECTORIES="
- - "LOGNAME=pji"
- - "XDG_SESSION_TYPE=tty"
- - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
- - "CMAKE_PREFIX_PATH=/opt/ros/noetic"
- - "PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages"
- - "USER=pji"
- - "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"
- - "ROS_ROOT=/opt/ros/noetic/share/ros"
- - "ROS_DISTRO=noetic"
- topics: # 这里加完了新话题还需要在数据闭环平台修改设备信息 # /robot_pose,/robot/realtime_cost_map_,/tracking/objects,/robot/TaskInfo,/robot/targetposition,/wheel,/wheel_odom,/robot/global_trajectory_,/robot/target_trajectories,/robot/evaluator_trajectories,/robot/final_trajectory,/nav/task_feedback_info,/cmd_vel,/imu,/nav/task_feedback_info,/velodyne_points
- - /robot_pose
- - /robot/realtime_cost_map_
- - /tracking/objects
- - /robot/TaskInfo
- - /robot/targetposition
- - /wheel
- - /robot/global_trajectory_
- - /robot/target_trajectories
- - /robot/evaluator_trajectories
- - /robot/final_trajectory
- - /cmd_vel
- - /imu
- - /points_cluster
- - /nav/task_feedback_info
- - /velodyne_points
- - /gnss
- - /obstacle_detection
- 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:
- - /robot_pose # /location_realtime
- - /robot/realtime_cost_map_ # /cloud_to_map_node
- - /tracking/objects # /tracking/imm_ukf_pda_track
- - /robot/TaskInfo # /task_decision
- - /robot/targetposition # /task_decision、/trajectorygenerator
- - /wheel # /trii_receive
- - /wheel_odom # /wheel_odom
- - /robot/global_trajectory_ # /lanelet_routing_node
- - /robot/target_trajectories # /trajectorygenerator
- - /robot/evaluator_trajectories # /trajectoryevaluator
- - /robot/final_trajectory # /trajectoryevaluator
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
- - /cmd_vel # /purepursuit、/auto_dock、/engine
- - /imu # /trii_receive
- - /points_cluster # /lidar_euclidean_cluster_detect
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
- - label: unstabledriving
- topics:
- - /robot_pose # /location_realtime
- - /robot/realtime_cost_map_ # /cloud_to_map_node
- - /tracking/objects # /tracking/imm_ukf_pda_track
- - /robot/TaskInfo # /task_decision
- - /robot/targetposition # /task_decision、/trajectorygenerator
- - /wheel # /trii_receive
- - /wheel_odom # /wheel_odom
- - /robot/global_trajectory_ # /lanelet_routing_node
- - /robot/target_trajectories # /trajectorygenerator
- - /robot/evaluator_trajectories # /trajectoryevaluator
- - /robot/final_trajectory # /trajectoryevaluator
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
- - /cmd_vel # /purepursuit、/auto_dock、/engine
- - /imu # /trii_receive
- - /points_cluster # /lidar_euclidean_cluster_detect
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
- - label: locationfailed
- topics:
- - /robot_pose # /location_realtime
- - /robot/realtime_cost_map_ # /cloud_to_map_node
- - /tracking/objects # /tracking/imm_ukf_pda_track
- - /robot/TaskInfo # /task_decision
- - /robot/targetposition # /task_decision、/trajectorygenerator
- - /wheel # /trii_receive
- - /wheel_odom # /wheel_odom
- - /robot/global_trajectory_ # /lanelet_routing_node
- - /robot/target_trajectories # /trajectorygenerator
- - /robot/evaluator_trajectories # /trajectoryevaluator
- - /robot/final_trajectory # /trajectoryevaluator
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
- - /cmd_vel # /purepursuit、/auto_dock、/engine
- - /imu # /trii_receive
- - /points_cluster # /lidar_euclidean_cluster_detect
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
- - label: obstacledetection
- topics:
- - /robot_pose # /location_realtime
- - /robot/realtime_cost_map_ # /cloud_to_map_node
- - /tracking/objects # /tracking/imm_ukf_pda_track
- - /robot/TaskInfo # /task_decision
- - /robot/targetposition # /task_decision、/trajectorygenerator
- - /wheel # /trii_receive
- - /wheel_odom # /wheel_odom
- - /robot/global_trajectory_ # /lanelet_routing_node
- - /robot/target_trajectories # /trajectorygenerator
- - /robot/evaluator_trajectories # /trajectoryevaluator
- - /robot/final_trajectory # /trajectoryevaluator
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
- - /cmd_vel # /purepursuit、/auto_dock、/engine
- - /imu # /trii_receive
- - /points_cluster # /lidar_euclidean_cluster_detect
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
- - label: overspeed
- topics:
- - /robot_pose # /location_realtime
- - /robot/realtime_cost_map_ # /cloud_to_map_node
- - /tracking/objects # /tracking/imm_ukf_pda_track
- - /robot/TaskInfo # /task_decision
- - /robot/targetposition # /task_decision、/trajectorygenerator
- - /wheel # /trii_receive
- - /wheel_odom # /wheel_odom
- - /robot/global_trajectory_ # /lanelet_routing_node
- - /robot/target_trajectories # /trajectorygenerator
- - /robot/evaluator_trajectories # /trajectoryevaluator
- - /robot/final_trajectory # /trajectoryevaluator
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
- - /cmd_vel # /purepursuit、/auto_dock、/engine
- - /imu # /trii_receive
- - /points_cluster # /lidar_euclidean_cluster_detect
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
- - label: cpuoveroccupied
- topics:
- - /robot_pose # /location_realtime
- - /robot/realtime_cost_map_ # /cloud_to_map_node
- - /tracking/objects # /tracking/imm_ukf_pda_track
- - /robot/TaskInfo # /task_decision
- - /robot/targetposition # /task_decision、/trajectorygenerator
- - /wheel # /trii_receive
- - /wheel_odom # /wheel_odom
- - /robot/global_trajectory_ # /lanelet_routing_node
- - /robot/target_trajectories # /trajectorygenerator
- - /robot/evaluator_trajectories # /trajectoryevaluator
- - /robot/final_trajectory # /trajectoryevaluator
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
- - /cmd_vel # /purepursuit、/auto_dock、/engine
- - /imu # /trii_receive
- - /points_cluster # /lidar_euclidean_cluster_detect
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
- - label: memoveroccupied
- topics:
- - /robot_pose # /location_realtime
- - /robot/realtime_cost_map_ # /cloud_to_map_node
- - /tracking/objects # /tracking/imm_ukf_pda_track
- - /robot/TaskInfo # /task_decision
- - /robot/targetposition # /task_decision、/trajectorygenerator
- - /wheel # /trii_receive
- - /wheel_odom # /wheel_odom
- - /robot/global_trajectory_ # /lanelet_routing_node
- - /robot/target_trajectories # /trajectorygenerator
- - /robot/evaluator_trajectories # /trajectoryevaluator
- - /robot/final_trajectory # /trajectoryevaluator
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
- - /cmd_vel # /purepursuit、/auto_dock、/engine
- - /imu # /trii_receive
- - /points_cluster # /lidar_euclidean_cluster_detect
- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
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