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- ---
- platform:
- url-device-auth: http://139.9.199.227:30991/device/auth
- url-task-poll: http://139.9.199.227:30991/device/task/poll
- url-task: http://139.9.199.227:30991/device/task
- full-collect: false
- bag-number: 10
- config-refresh-interval: 60
- disk:
- name: /dev/mmcblk0p8 # 磁盘名称
- used: 20000000000 # 磁盘占用阈值，单位bytes
- bag-data-dir: /root/cicv-data-closedloop/data/
- bag-copy-dir: /root/cicv-data-closedloop/copy/
- triggers-dir: /root/cicv-data-closedloop/triggers/
- time-window-send-gap: 6
- rpc-port: 12341
- ros:
- master-address: 192.168.1.104:11311
- nodes:
- - /adapters_nav
- - /amcl
- - /auto_dock
- - /camera/camera
- - /engine
- - /lidar_filter_bz
- - /localization_monitor_node
- - /ltme_node
- - /map_merge_node
- - /mode_manage
- - /monitor
- - /move_base
- - /node_diagnostics
- - /node_map_convert
- - /node_ota
- - /pointcloud_to_laserscan
- - /robot_pose_publisher_node
- - /robot_state_publisher
- - /robot_static_node
- - /rosout
- - /scan_map_icp_amcl_node
- - /sensor_fusion_node
- - /slip_check_node
- - /srf_laser_odometry_node
- - /trii_receive
- 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
- - /camera/color/image_raw
- - /camera/depth/points
- - /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
- 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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