cicv_data_closed_loop/aarch64/jili/Gart-cloud-config.yaml

---

refresh-cloud-config: false
compress-bag: false
clean-before-start: false
monitor:
  url: http://36.110.106.142:12341/web_server/monitor/insert
platform:
  url-device-auth: http://1.202.169.139:8081/device/auth
  url-task-poll: http://1.202.169.139:8081/device/task/poll
#  url-task: http://1.202.169.139:8081/device/task
  url-task:  http://82.156.39.136:8085/bservice/device/task
  ak: guoqi
  sk: 64fd3e1ffe3476e9e81f06cadd9da6dea1b428716da71545ad037a2fb3aefcb1
full-collect: true
bag-number: 120 # 无人驾驶比赛期间，这里不需要缓存
config-refresh-interval: 60
disk:
  name: /dev/vdb # 磁盘名称
  used: 900000000000 # 磁盘占用阈值，单位bytes
  path:
    - /mnt/media/sda1/cicv-data-closedloop
bag-data-dir: /mnt/media/sda1/cicv-data-closedloop/data/
bag-copy-dir: /mnt/media/sda1/cicv-data-closedloop/copy/
time-to-label-json-path: /mnt/media/sda1/cicv-data-closedloop/timeToLabel.json
triggers-dir: /mnt/media/sda1/cicv-data-closedloop/triggers/
time-window-send-gap: 6
tcp-port: 12340
rpc-port: 12341
ros:
  master-address: 192.168.1.104:11311
  nodes:
    - /camera_output
    - /ins
    - /lidar_pretreatment
#    - /sensorfusion
    - /sensors_fusion_node
    - /control

# /camera_image,/cicv_amr_trajectory,/pj_control_pub,/data_read,/tftrafficlight,/cicv_amr_trajectory,/trajectory_display,/reference_display,/reference_trajectory,/tprouteplan,/map_polygon,/vehicle_info,/target_line,/parking_line,/station_status,/pj_control_pub,/pj_control_debug_pub,/tar_traj_pub,/park_task,/parking_line,/map_display,/v2x_planner,/end_point_message,/heartbeat_info,/fault_info,/planning_fault_info,/nodefault_info,/points_concat,/tpperception,/cicv_location,/tpperception,/pull_over,/pj_vehicle_fdb_pub,/pre_line,/target_line,/amr_pose,/destination_pose,/lidar_roi,/obstacle_display,/target_point_pub,/fusion/traffic_light,/roi/polygon,/tpperception/vis
hosts:
  - name: node1
    ip: 192.168.1.104
    rosbag:
      path: "/opt/ros/noetic/bin/rosbag"
      envs:
        - "SHELL=/bin/bash"
        - "ROS_VERSION=1"
        - "SUDO_GID=1000"
        - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig"
        - "ROS_PYTHON_VERSION=3"
        - "SUDO_COMMAND=/usr/bin/su"
        - "SUDO_USER=pji"
        - "ROS_PACKAGE_PATH=/opt/ros/noetic/share"
        - "ROSLISP_PACKAGE_DIRECTORIES="
        - "PWD=/mnt/media/sda1/cicv-data-closedloop/data"
        - "LOGNAME=root"
        - "ROS_IP=192.168.1.104"
        - "HOME=/root"
        - "LANG=en_US.UTF-8"
        - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
        - "CMAKE_PREFIX_PATH=/opt/ros/noetic"
        - "LESSCLOSE=/usr/bin/lesspipe %s %s"
        - "PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages"
        - "USER=root"
        - "LD_LIBARAY_PATH=/usr/local/lib:"
        - "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"
        - "PATH=/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin"
        - "ROS_ROOT=/opt/ros/noetic/share/ros"
        - "ROS_DISTRO=noetic"
        - "_=/usr/bin/env"
    topics:
      - /camera_image # /camera_output
      - /cicv_amr_trajectory
      - /pj_control_pub # /control
      - /data_read  # gart多功能车没有（需亚伦部署）
      - /tftrafficlight
      - /trajectory_display
      - /reference_display
      - /reference_trajectory
      - /tprouteplan
      - /map_polygon
      - /vehicle_info
      - /target_line
      - /parking_line
      - /station_status
      - /pj_control_pub
      - /pj_control_debug_pub
      - /tar_traj_pub
      - /park_task
      - /parking_line
      - /map_display
      - /v2x_planner
      - /end_point_message
      - /heartbeat_info
      - /fault_info
      - /planning_fault_info # gart多功能车没有
      - /nodefault_info
  - name: node2
    ip: 192.168.1.105
    rosbag:
      path: "/opt/ros/noetic/bin/rosbag"
      envs:
        - "SHELL=/bin/bash"
        - "ROS_VERSION=1"
        - "SUDO_GID=1000"
        - "PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig"
        - "ROS_PYTHON_VERSION=3"
        - "SUDO_COMMAND=/usr/bin/su"
        - "SUDO_USER=pji"
        - "ROS_PACKAGE_PATH=/opt/ros/noetic/share"
        - "ROSLISP_PACKAGE_DIRECTORIES="
        - "PWD=/mnt/media/sda1/cicv-data-closedloop/data"
        - "LOGNAME=root"
        - "ROS_IP=192.168.1.105"
        - "HOME=/root"
        - "LANG=en_US.UTF-8"
        - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
        - "CMAKE_PREFIX_PATH=/opt/ros/noetic"
        - "LESSCLOSE=/usr/bin/lesspipe %s %s"
        - "PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages"
        - "USER=root"
        - "LD_LIBARAY_PATH=/usr/local/lib:"
        - "ROS_MASTER_URI=http://192.168.1.104:11311"
        - "ROS_HOSTNAME=192.168.1.104"
        - "LD_LIBRARY_PATH=/opt/ros/noetic/lib::/usr/local/cuda-11.4/lib64"
        - "PATH=/home/pji/.local/bin:/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/cuda-11.4/bin:/home/pji/.local/bin"
        - "ROS_ROOT=/opt/ros/noetic/share/ros"
        - "ROS_DISTRO=noetic"
        - "_=/usr/bin/env"
    topics:
      - /points_concat  # /lidar_pretreatment
      - /tpperception # /sensorfusion
      - /cicv_location  # /ins
      - /tpperception
      - /pull_over
      - /pj_vehicle_fdb_pub
      - /pre_line
      - /target_line
      - /amr_pose
      - /destination_pose
      - /lidar_roi
      - /obstacle_display
      - /target_point_pub
      - /fusion/traffic_light  # gart多功能车没有
      - /roi/polygon
      - /tpperception/vis  # gart多功能车没有
triggers:
  - label: rapidaccel
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: brake
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: EmergencyStop
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: AutoDLimit
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: lanechange
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: brakefault
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: takeover
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image
  - label: TTC
    topics:
      - /tpperception
      - /points_concat
      - /cicv_location
      - /camera_image