cicv_data_closed_loop/aarch64/pjibot_patrol/巡检机器人默认配置文件-cloud-config.yaml

---
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: 100000000000 # 100G 磁盘占用阈值，单位bytes
  path:
    - /home/pji/cicv-data-closedloop
has-one-msg-topic: 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: # /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,/points_cluster,/nav/task_feedback_info
      - /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


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