cicv_data_closed_loop/aarch64/pjibot_clean/master/package/config/bak.txt

func InitTriggerConfig() {
	config.OssMutex.Lock()
	defer config.OssMutex.Unlock()
	triggerLocalPathsMapTriggerId := make(map[string]string)
	c_log.GlobalLogger.Info("主节点加载触发器插件 - 开始。")
	// 1 获取数采任务的触发器列表
	cloudTriggers := &config.PlatformConfig.TaskTriggers
	// 2 获取本地触发器列表（触发器目录的一级子目录为【触发器ID_触发器Label】）
	localTriggerIds := util.GetFirstLevelSubdirectories(config.CloudConfig.TriggersDir)
	// 3 对比触发器列表，本地没有的则下载
	for _, trigger := range *cloudTriggers {
		id := util.ToString(trigger.TriggerId)
		hasIdDir := slices.Contains(localTriggerIds, id) // 改成了 slices 工具库
		triggerLocalDir := config.CloudConfig.TriggersDir + id + "/"
		hasLabelSo, soPaths := util.CheckSoFilesInDirectory(triggerLocalDir)
		var triggerLocalPath string
		if hasIdDir && hasLabelSo { // 已存在的触发器需要判断是否大小一致
			triggerLocalPath = soPaths[0]
			ossSize, _ := util.GetOSSFileSize(config.OssBucket, trigger.TriggerScriptPath)
			localSize, _ := util.GetFileSize(triggerLocalPath)
			if ossSize == localSize {
				c_log.GlobalLogger.Info("触发器插件 ", triggerLocalPath, " 存在且与云端触发器大小一致。")
				triggerLocalPathsMapTriggerId[triggerLocalPath] = id
				continue
			}
		}
		label := util.GetFileNameWithoutExtension(config.CloudConfig.TriggersDir + trigger.TriggerScriptPath)
		triggerLocalPath = config.CloudConfig.TriggersDir + id + "/" + label + ".so"
		c_log.GlobalLogger.Info("开始下载触发器插件从 ", trigger.TriggerScriptPath, " 到 ", triggerLocalPath)
		_ = util.CreateParentDir(triggerLocalPath)
		for {
			if err := config.OssBucket.GetObjectToFile(trigger.TriggerScriptPath, triggerLocalPath); err != nil {
				c_log.GlobalLogger.Error("下载触发器插件失败，再次尝试：", err)
				continue
			}
			break
		}
		triggerLocalPathsMapTriggerId[triggerLocalPath] = id
	}

	success := 0
	// 加载所有触发器的文件
	for triggerLocalPath, triggerId := range triggerLocalPathsMapTriggerId {
		// 载入插件到数组
		open, err := plugin.Open(triggerLocalPath)
		if err != nil {
			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "失败。", err)
			continue
		}
		topic0, err := open.Lookup("Topic")
		if err != nil {
			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Topic方法失败。", err)
			continue
		}
		topic1, ok := topic0.(func() string)
		if ok != true {
			c_log.GlobalLogger.Error("插件", triggerLocalPath, "中的Topic方法必须是(func() string):", err)
			continue
		}
		topic2 := topic1()
		rule, err := open.Lookup("Rule")
		if err != nil {
			c_log.GlobalLogger.Error("加载本地插件", triggerLocalPath, "中的Rule方法失败。", err)
			continue
		}

		if Topic1 == topic2 { // 1
			if f, ok1 := rule.(func(data *std_msgs.Int16MultiArray) string); ok1 {
				Rule1 = append(Rule1, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic2 == topic2 { // 2
			if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
				Rule2 = append(Rule2, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic3 == topic2 { // 3
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule3 = append(Rule3, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic4 == topic2 { // 4
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule4 = append(Rule4, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic5 == topic2 { // 5
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule5 = append(Rule5, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic6 == topic2 { // 6
			if f, ok1 := rule.(func(data *geometry_msgs.PoseWithCovarianceStamped) string); ok1 {
				Rule6 = append(Rule6, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic7 == topic2 { // 7
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule7 = append(Rule7, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic8 == topic2 { // 8
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule8 = append(Rule8, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic9 == topic2 { // 9
			if f, ok1 := rule.(func(data *std_msgs.Bool) string); ok1 {
				Rule9 = append(Rule9, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic10 == topic2 { // 10
			if f, ok1 := rule.(func(data *std_msgs.Int8) string); ok1 {
				Rule10 = append(Rule10, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic11 == topic2 { // 11
			if f, ok1 := rule.(func(data *std_msgs.Int8) string); ok1 {
				Rule11 = append(Rule11, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic12 == topic2 { // 12
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				Rule12 = append(Rule12, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic13 == topic2 { // 13
			if f, ok1 := rule.(func(data *sensor_msgs.BatteryState) string); ok1 {
				Rule13 = append(Rule13, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic14 == topic2 { // 14
			if f, ok1 := rule.(func(data *std_msgs.Int16) string); ok1 {
				Rule14 = append(Rule14, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic15 == topic2 { // 15
			if f, ok1 := rule.(func(data *visualization_msgs.Marker) string); ok1 {
				Rule15 = append(Rule15, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic16 == topic2 { // 16
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule16 = append(Rule16, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic17 == topic2 { // 17
			if f, ok1 := rule.(func(data *sensor_msgs.CameraInfo) string); ok1 {
				Rule17 = append(Rule17, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic18 == topic2 { // 18
			if f, ok1 := rule.(func(data *sensor_msgs.Image) string); ok1 {
				Rule18 = append(Rule18, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic19 == topic2 { // 19
			if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
				Rule19 = append(Rule19, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic20 == topic2 { // 20
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule20 = append(Rule20, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic21 == topic2 { // 21
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule21 = append(Rule21, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic22 == topic2 { // 22
			if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
				Rule22 = append(Rule22, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic23 == topic2 { // 23
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule23 = append(Rule23, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic24 == topic2 { // 24
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule24 = append(Rule24, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic25 == topic2 { // 25
			if f, ok1 := rule.(func(data *theora_image_transport.Packet) string); ok1 {
				Rule25 = append(Rule25, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic26 == topic2 { // 26
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule26 = append(Rule26, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic27 == topic2 { // 27
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule27 = append(Rule27, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic28 == topic2 { // 28
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				Rule28 = append(Rule28, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic29 == topic2 { // 29
			if f, ok1 := rule.(func(data *sensor_msgs.CameraInfo) string); ok1 {
				Rule29 = append(Rule29, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic30 == topic2 { // 30
			if f, ok1 := rule.(func(data *sensor_msgs.Image) string); ok1 {
				Rule30 = append(Rule30, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic31 == topic2 { // 31
			if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
				Rule31 = append(Rule31, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic32 == topic2 { // 32
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule32 = append(Rule32, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic33 == topic2 { // 33
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule33 = append(Rule33, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic34 == topic2 { // 34
			if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
				Rule34 = append(Rule34, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic35 == topic2 { // 35
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule35 = append(Rule35, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic36 == topic2 { // 36
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule36 = append(Rule36, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic37 == topic2 { // 37
			if f, ok1 := rule.(func(data *theora_image_transport.Packet) string); ok1 {
				Rule37 = append(Rule37, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic38 == topic2 { // 38
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule38 = append(Rule38, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic39 == topic2 { // 39
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule39 = append(Rule39, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic40 == topic2 { // 40
			if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
				Rule40 = append(Rule40, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic41 == topic2 { // 41
			if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
				Rule41 = append(Rule41, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic42 == topic2 { // 42
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				Rule42 = append(Rule42, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic43 == topic2 { // 43
			if f, ok1 := rule.(func(data *std_msgs.Int8) string); ok1 {
				Rule43 = append(Rule43, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic44 == topic2 { // 44
			if f, ok1 := rule.(func(data *std_msgs.Bool) string); ok1 {
				Rule44 = append(Rule44, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic45 == topic2 { // 45
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				Rule45 = append(Rule45, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic46 == topic2 { // 46
			if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
				Rule46 = append(Rule46, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic47 == topic2 { // 47
			if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
				Rule47 = append(Rule47, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic48 == topic2 { // 48
			if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
				Rule48 = append(Rule48, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic49 == topic2 { // 49
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule49 = append(Rule49, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic50 == topic2 { // 50
			if f, ok1 := rule.(func(data *visualization_msgs.MarkerArray) string); ok1 {
				Rule50 = append(Rule50, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic51 == topic2 { // 51
			if f, ok1 := rule.(func(data *geometry_msgs.PolygonStamped) string); ok1 {
				Rule51 = append(Rule51, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic52 == topic2 { // 52
			if f, ok1 := rule.(func(data *nav_msgs.OccupancyGrid) string); ok1 {
				Rule52 = append(Rule52, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic53 == topic2 { // 53
			if f, ok1 := rule.(func(data *nav_msgs.OccupancyGrid) string); ok1 {
				Rule53 = append(Rule53, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic54 == topic2 { // 54
			if f, ok1 := rule.(func(data *nav_msgs.OccupancyGrid) string); ok1 {
				Rule54 = append(Rule54, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic55 == topic2 { // 55
			if f, ok1 := rule.(func(data *std_msgs.Float32) string); ok1 {
				Rule55 = append(Rule55, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic56 == topic2 { // 56
			if f, ok1 := rule.(func(data *std_msgs.Int32) string); ok1 {
				Rule56 = append(Rule56, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic57 == topic2 { // 57
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				Rule57 = append(Rule57, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic58 == topic2 { // 58
			if f, ok1 := rule.(func(data *clean_msg.ErrorInfo) string); ok1 {
				Rule58 = append(Rule58, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic59 == topic2 { // 59
			if f, ok1 := rule.(func(data *nav_msgs.OccupancyGrid) string); ok1 {
				Rule59 = append(Rule59, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic60 == topic2 { // 60
			if f, ok1 := rule.(func(data *nav_msgs.OccupancyGrid) string); ok1 {
				Rule60 = append(Rule60, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic61 == topic2 { // 61
			if f, ok1 := rule.(func(data *nav_msgs.OccupancyGrid) string); ok1 {
				Rule61 = append(Rule61, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic62 == topic2 { // 62
			if f, ok1 := rule.(func(data *nav_msgs.OccupancyGrid) string); ok1 {
				Rule62 = append(Rule62, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic63 == topic2 { // 63
			if f, ok1 := rule.(func(data *nav_msgs.OccupancyGrid) string); ok1 {
				Rule63 = append(Rule63, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic64 == topic2 { // 64
			if f, ok1 := rule.(func(data *nav_msgs.OccupancyGrid) string); ok1 {
				Rule64 = append(Rule64, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic65 == topic2 { // 65
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule65 = append(Rule65, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic66 == topic2 { // 66
			if f, ok1 := rule.(func(data *std_msgs.Bool) string); ok1 {
				Rule66 = append(Rule66, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic67 == topic2 { // 67
			if f, ok1 := rule.(func(data *std_msgs.Bool) string); ok1 {
				Rule67 = append(Rule67, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic68 == topic2 { // 68
			if f, ok1 := rule.(func(data *geometry_msgs.PolygonStamped) string); ok1 {
				Rule68 = append(Rule68, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic69 == topic2 { // 69
			if f, ok1 := rule.(func(data *geometry_msgs.PointStamped) string); ok1 {
				Rule69 = append(Rule69, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic70 == topic2 { // 70
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule70 = append(Rule70, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic71 == topic2 { // 71
			if f, ok1 := rule.(func(data *geometry_msgs.Twist) string); ok1 {
				Rule71 = append(Rule71, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic72 == topic2 { // 72
			if f, ok1 := rule.(func(data *geometry_msgs.Twist) string); ok1 {
				Rule72 = append(Rule72, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic73 == topic2 { // 73
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				Rule73 = append(Rule73, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic74 == topic2 { // 74
			if f, ok1 := rule.(func(data *common_msgs.CreateMapInfo) string); ok1 {
				Rule74 = append(Rule74, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic75 == topic2 { // 75
			if f, ok1 := rule.(func(data *geometry_msgs.Twist) string); ok1 {
				Rule75 = append(Rule75, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic76 == topic2 { // 76
			if f, ok1 := rule.(func(data *common_msgs.SensorStatus) string); ok1 {
				Rule76 = append(Rule76, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic77 == topic2 { // 77
			if f, ok1 := rule.(func(data *geometry_msgs.PoseArray) string); ok1 {
				Rule77 = append(Rule77, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic78 == topic2 { // 78
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				Rule78 = append(Rule78, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic79 == topic2 { // 79
			if f, ok1 := rule.(func(data *common_msgs.IdentifierObjsInfo) string); ok1 {
				Rule79 = append(Rule79, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic80 == topic2 { // 80
			if f, ok1 := rule.(func(data *common_msgs.McuDiagnostic) string); ok1 {
				Rule80 = append(Rule80, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic81 == topic2 { // 81
			if f, ok1 := rule.(func(data *diagnostic_msgs.DiagnosticArray) string); ok1 {
				Rule81 = append(Rule81, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic82 == topic2 { // 82
			if f, ok1 := rule.(func(data *std_msgs.Int8) string); ok1 {
				Rule82 = append(Rule82, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic83 == topic2 { // 83
			if f, ok1 := rule.(func(data *std_msgs.Int16) string); ok1 {
				Rule83 = append(Rule83, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic84 == topic2 { // 84
			if f, ok1 := rule.(func(data *geometry_msgs.Vector3Stamped) string); ok1 {
				Rule84 = append(Rule84, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic85 == topic2 { // 85
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				Rule85 = append(Rule85, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic86 == topic2 { // 86
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				Rule86 = append(Rule86, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic87 == topic2 { // 87
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule87 = append(Rule87, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic88 == topic2 { // 88
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule88 = append(Rule88, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic89 == topic2 { // 89
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule89 = append(Rule89, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic90 == topic2 { // 90
			if f, ok1 := rule.(func(data *std_msgs.Int32) string); ok1 {
				Rule90 = append(Rule90, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic91 == topic2 { // 91
			if f, ok1 := rule.(func(data *common_msgs.TaskInfo) string); ok1 {
				Rule91 = append(Rule91, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic92 == topic2 { // 92
			if f, ok1 := rule.(func(data *common_msgs.MapInfo) string); ok1 {
				Rule92 = append(Rule92, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic93 == topic2 { // 93
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				Rule93 = append(Rule93, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic94 == topic2 { // 94
			if f, ok1 := rule.(func(data *common_msgs.VideoStream) string); ok1 {
				Rule94 = append(Rule94, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic95 == topic2 { // 95
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				Rule95 = append(Rule95, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic96 == topic2 { // 96
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				Rule96 = append(Rule96, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic97 == topic2 { // 97
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				Rule97 = append(Rule97, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic98 == topic2 { // 98
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				Rule98 = append(Rule98, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic99 == topic2 { // 99
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				Rule99 = append(Rule99, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic100 == topic2 { // 100
			if f, ok1 := rule.(func(data *geometry_msgs.PointStamped) string); ok1 {
				Rule100 = append(Rule100, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic101 == topic2 { // 101
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				Rule101 = append(Rule101, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic102 == topic2 { // 102
			if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
				Rule102 = append(Rule102, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic103 == topic2 { // 103
			if f, ok1 := rule.(func(data *geometry_msgs.PoseWithCovarianceStamped) string); ok1 {
				Rule103 = append(Rule103, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic104 == topic2 { // 104
			if f, ok1 := rule.(func(data *geometry_msgs.Pose) string); ok1 {
				Rule104 = append(Rule104, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic105 == topic2 { // 105
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule105 = append(Rule105, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic106 == topic2 { // 106
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule106 = append(Rule106, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic107 == topic2 { // 107
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule107 = append(Rule107, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic108 == topic2 { // 108
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule108 = append(Rule108, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic109 == topic2 { // 109
			if f, ok1 := rule.(func(data *std_msgs.Float64) string); ok1 {
				Rule109 = append(Rule109, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic110 == topic2 { // 110
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule110 = append(Rule110, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic111 == topic2 { // 111
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule111 = append(Rule111, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic112 == topic2 { // 112
			if f, ok1 := rule.(func(data *sensor_msgs.Imu) string); ok1 {
				Rule112 = append(Rule112, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic113 == topic2 { // 113
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule113 = append(Rule113, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic114 == topic2 { // 114
			if f, ok1 := rule.(func(data *std_msgs.Int8) string); ok1 {
				Rule114 = append(Rule114, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic115 == topic2 { // 115
			if f, ok1 := rule.(func(data *std_msgs.Int16) string); ok1 {
				Rule115 = append(Rule115, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic116 == topic2 { // 116
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule116 = append(Rule116, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic117 == topic2 { // 117
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule117 = append(Rule117, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic118 == topic2 { // 118
			if f, ok1 := rule.(func(data *geometry_msgs.PoseWithCovarianceStamped) string); ok1 {
				Rule118 = append(Rule118, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic119 == topic2 { // 119
			if f, ok1 := rule.(func(data *sensor_msgs.JointState) string); ok1 {
				Rule119 = append(Rule119, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic120 == topic2 { // 120
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule120 = append(Rule120, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic121 == topic2 { // 121
			if f, ok1 := rule.(func(data *cartographer_ros_msgs.LandmarkList) string); ok1 {
				Rule121 = append(Rule121, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic122 == topic2 { // 122
			if f, ok1 := rule.(func(data *nav_msgs.Odometry) string); ok1 {
				Rule122 = append(Rule122, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic123 == topic2 { // 123
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				Rule123 = append(Rule123, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic124 == topic2 { // 124
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule124 = append(Rule124, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic125 == topic2 { // 125
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				Rule125 = append(Rule125, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic126 == topic2 { // 126
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule126 = append(Rule126, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic127 == topic2 { // 127
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule127 = append(Rule127, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic128 == topic2 { // 128
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule128 = append(Rule128, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic129 == topic2 { // 129
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule129 = append(Rule129, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic130 == topic2 { // 130
			if f, ok1 := rule.(func(data *geometry_msgs.PoseWithCovarianceStamped) string); ok1 {
				Rule130 = append(Rule130, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic131 == topic2 { // 131
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule131 = append(Rule131, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic132 == topic2 { // 132
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule132 = append(Rule132, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic133 == topic2 { // 133
			if f, ok1 := rule.(func(data *common_msgs.LocateInfo) string); ok1 {
				Rule133 = append(Rule133, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic134 == topic2 { // 134
			if f, ok1 := rule.(func(data *std_msgs.Bool) string); ok1 {
				Rule134 = append(Rule134, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic135 == topic2 { // 135
			if f, ok1 := rule.(func(data *std_msgs.Float64MultiArray) string); ok1 {
				Rule135 = append(Rule135, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic136 == topic2 { // 136
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule136 = append(Rule136, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic137 == topic2 { // 137
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule137 = append(Rule137, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic138 == topic2 { // 138
			if f, ok1 := rule.(func(data *nav_msgs.OccupancyGrid) string); ok1 {
				Rule138 = append(Rule138, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic139 == topic2 { // 139
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule139 = append(Rule139, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic140 == topic2 { // 140
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				Rule140 = append(Rule140, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic141 == topic2 { // 141
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule141 = append(Rule141, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic142 == topic2 { // 142
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule142 = append(Rule142, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic143 == topic2 { // 143
			if f, ok1 := rule.(func(data *nav_msgs.MapMetaData) string); ok1 {
				Rule143 = append(Rule143, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic144 == topic2 { // 144
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				Rule144 = append(Rule144, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic145 == topic2 { // 145
			if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
				Rule145 = append(Rule145, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic146 == topic2 { // 146
			if f, ok1 := rule.(func(data *nav_msgs.OccupancyGrid) string); ok1 {
				Rule146 = append(Rule146, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic147 == topic2 { // 147
			if f, ok1 := rule.(func(data *nav_msgs.OccupancyGrid) string); ok1 {
				Rule147 = append(Rule147, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic148 == topic2 { // 148
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule148 = append(Rule148, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic149 == topic2 { // 149
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule149 = append(Rule149, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic150 == topic2 { // 150
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule150 = append(Rule150, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic151 == topic2 { // 151
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule151 = append(Rule151, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic152 == topic2 { // 152
			if f, ok1 := rule.(func(data *std_msgs.Bool) string); ok1 {
				Rule152 = append(Rule152, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic153 == topic2 { // 153
			if f, ok1 := rule.(func(data *sensor_msgs.CameraInfo) string); ok1 {
				Rule153 = append(Rule153, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic154 == topic2 { // 154
			if f, ok1 := rule.(func(data *sensor_msgs.Image) string); ok1 {
				Rule154 = append(Rule154, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic155 == topic2 { // 155
			if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
				Rule155 = append(Rule155, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic156 == topic2 { // 156
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule156 = append(Rule156, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic157 == topic2 { // 157
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule157 = append(Rule157, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic158 == topic2 { // 158
			if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
				Rule158 = append(Rule158, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic159 == topic2 { // 159
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule159 = append(Rule159, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic160 == topic2 { // 160
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule160 = append(Rule160, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic161 == topic2 { // 161
			if f, ok1 := rule.(func(data *theora_image_transport.Packet) string); ok1 {
				Rule161 = append(Rule161, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic162 == topic2 { // 162
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule162 = append(Rule162, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic163 == topic2 { // 163
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule163 = append(Rule163, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic164 == topic2 { // 164
			if f, ok1 := rule.(func(data *sensor_msgs.CameraInfo) string); ok1 {
				Rule164 = append(Rule164, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic165 == topic2 { // 165
			if f, ok1 := rule.(func(data *sensor_msgs.Image) string); ok1 {
				Rule165 = append(Rule165, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic166 == topic2 { // 166
			if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
				Rule166 = append(Rule166, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic167 == topic2 { // 167
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule167 = append(Rule167, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic168 == topic2 { // 168
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule168 = append(Rule168, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic169 == topic2 { // 169
			if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
				Rule169 = append(Rule169, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic170 == topic2 { // 170
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule170 = append(Rule170, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic171 == topic2 { // 171
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule171 = append(Rule171, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic172 == topic2 { // 172
			if f, ok1 := rule.(func(data *theora_image_transport.Packet) string); ok1 {
				Rule172 = append(Rule172, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic173 == topic2 { // 173
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule173 = append(Rule173, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic174 == topic2 { // 174
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule174 = append(Rule174, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic175 == topic2 { // 175
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				Rule175 = append(Rule175, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic176 == topic2 { // 176
			if f, ok1 := rule.(func(data *sensor_msgs.CameraInfo) string); ok1 {
				Rule176 = append(Rule176, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic177 == topic2 { // 177
			if f, ok1 := rule.(func(data *sensor_msgs.Image) string); ok1 {
				Rule177 = append(Rule177, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic178 == topic2 { // 178
			if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
				Rule178 = append(Rule178, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic179 == topic2 { // 179
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule179 = append(Rule179, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic180 == topic2 { // 180
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule180 = append(Rule180, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic181 == topic2 { // 181
			if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
				Rule181 = append(Rule181, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic182 == topic2 { // 182
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule182 = append(Rule182, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic183 == topic2 { // 183
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule183 = append(Rule183, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic184 == topic2 { // 184
			if f, ok1 := rule.(func(data *theora_image_transport.Packet) string); ok1 {
				Rule184 = append(Rule184, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic185 == topic2 { // 185
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule185 = append(Rule185, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic186 == topic2 { // 186
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule186 = append(Rule186, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic187 == topic2 { // 187
			if f, ok1 := rule.(func(data *sensor_msgs.CameraInfo) string); ok1 {
				Rule187 = append(Rule187, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic188 == topic2 { // 188
			if f, ok1 := rule.(func(data *sensor_msgs.Image) string); ok1 {
				Rule188 = append(Rule188, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic189 == topic2 { // 189
			if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
				Rule189 = append(Rule189, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic190 == topic2 { // 190
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule190 = append(Rule190, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic191 == topic2 { // 191
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule191 = append(Rule191, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic192 == topic2 { // 192
			if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
				Rule192 = append(Rule192, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic193 == topic2 { // 193
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule193 = append(Rule193, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic194 == topic2 { // 194
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule194 = append(Rule194, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic195 == topic2 { // 195
			if f, ok1 := rule.(func(data *theora_image_transport.Packet) string); ok1 {
				Rule195 = append(Rule195, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic196 == topic2 { // 196
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule196 = append(Rule196, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic197 == topic2 { // 197
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule197 = append(Rule197, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic198 == topic2 { // 198
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				Rule198 = append(Rule198, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic199 == topic2 { // 199
			if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
				Rule199 = append(Rule199, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic200 == topic2 { // 200
			if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
				Rule200 = append(Rule200, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic201 == topic2 { // 201
			if f, ok1 := rule.(func(data *std_msgs.UInt8) string); ok1 {
				Rule201 = append(Rule201, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic202 == topic2 { // 202
			if f, ok1 := rule.(func(data *nav_msgs.Odometry) string); ok1 {
				Rule202 = append(Rule202, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic203 == topic2 { // 203
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule203 = append(Rule203, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic204 == topic2 { // 204
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule204 = append(Rule204, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic205 == topic2 { // 205
			if f, ok1 := rule.(func(data *nav_msgs.Odometry) string); ok1 {
				Rule205 = append(Rule205, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic206 == topic2 { // 206
			if f, ok1 := rule.(func(data *sensor_msgs.Imu) string); ok1 {
				Rule206 = append(Rule206, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic207 == topic2 { // 207
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				Rule207 = append(Rule207, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic208 == topic2 { // 208
			if f, ok1 := rule.(func(data *geometry_msgs.PoseArray) string); ok1 {
				Rule208 = append(Rule208, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic209 == topic2 { // 209
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				Rule209 = append(Rule209, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic210 == topic2 { // 210
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				Rule210 = append(Rule210, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic211 == topic2 { // 211
			if f, ok1 := rule.(func(data *geometry_msgs.PoseWithCovarianceStamped) string); ok1 {
				Rule211 = append(Rule211, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic212 == topic2 { // 212
			if f, ok1 := rule.(func(data *geometry_msgs.Vector3Stamped) string); ok1 {
				Rule212 = append(Rule212, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic213 == topic2 { // 213
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule213 = append(Rule213, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic214 == topic2 { // 214
			if f, ok1 := rule.(func(data *common_msgs.FunctionAreas) string); ok1 {
				Rule214 = append(Rule214, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic215 == topic2 { // 215
			if f, ok1 := rule.(func(data *std_msgs.Bool) string); ok1 {
				Rule215 = append(Rule215, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic216 == topic2 { // 216
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				Rule216 = append(Rule216, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic217 == topic2 { // 217
			if f, ok1 := rule.(func(data *std_msgs.Float64MultiArray) string); ok1 {
				Rule217 = append(Rule217, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic218 == topic2 { // 218
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule218 = append(Rule218, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic219 == topic2 { // 219
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule219 = append(Rule219, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic220 == topic2 { // 220
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule220 = append(Rule220, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic221 == topic2 { // 221
			if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
				Rule221 = append(Rule221, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic222 == topic2 { // 222
			if f, ok1 := rule.(func(data *geometry_msgs.PoseWithCovarianceStamped) string); ok1 {
				Rule222 = append(Rule222, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic223 == topic2 { // 223
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule223 = append(Rule223, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic224 == topic2 { // 224
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule224 = append(Rule224, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic225 == topic2 { // 225
			if f, ok1 := rule.(func(data *localization_monitor.RobotStatus) string); ok1 {
				Rule225 = append(Rule225, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic226 == topic2 { // 226
			if f, ok1 := rule.(func(data *std_msgs.Float64MultiArray) string); ok1 {
				Rule226 = append(Rule226, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic227 == topic2 { // 227
			if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
				Rule227 = append(Rule227, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic228 == topic2 { // 228
			if f, ok1 := rule.(func(data *actionlib_msgs.GoalID) string); ok1 {
				Rule228 = append(Rule228, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic229 == topic2 { // 229
			if f, ok1 := rule.(func(data *ipa_building_msgs.MapSegmentationActionFeedback) string); ok1 {
				Rule229 = append(Rule229, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic230 == topic2 { // 230
			if f, ok1 := rule.(func(data *ipa_building_msgs.MapSegmentationActionGoal) string); ok1 {
				Rule230 = append(Rule230, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic231 == topic2 { // 231
			if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
				Rule231 = append(Rule231, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic232 == topic2 { // 232
			if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
				Rule232 = append(Rule232, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic233 == topic2 { // 233
			if f, ok1 := rule.(func(data *ipa_building_msgs.MapSegmentationActionResult) string); ok1 {
				Rule233 = append(Rule233, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic234 == topic2 { // 234
			if f, ok1 := rule.(func(data *nav_msgs.OccupancyGrid) string); ok1 {
				Rule234 = append(Rule234, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic235 == topic2 { // 235
			if f, ok1 := rule.(func(data *actionlib_msgs.GoalStatusArray) string); ok1 {
				Rule235 = append(Rule235, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic236 == topic2 { // 1
			if f, ok1 := rule.(func(data *rosgraph_msgs.Log) string); ok1 {
				Rule236 = append(Rule236, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic237 == topic2 { // 2
			if f, ok1 := rule.(func(data *rosgraph_msgs.Log) string); ok1 {
				Rule237 = append(Rule237, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic238 == topic2 { // 3
			if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
				Rule238 = append(Rule238, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic239 == topic2 { // 4
			if f, ok1 := rule.(func(data *geometry_msgs.Vector3Stamped) string); ok1 {
				Rule239 = append(Rule239, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic240 == topic2 { // 5
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				Rule240 = append(Rule240, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic241 == topic2 { // 6
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				Rule241 = append(Rule241, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic242 == topic2 { // 7
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				Rule242 = append(Rule242, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic243 == topic2 { // 8
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				Rule243 = append(Rule243, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic244 == topic2 { // 9
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				Rule244 = append(Rule244, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic245 == topic2 { // 10
			if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
				Rule245 = append(Rule245, f)
				goto JudgeDone
			}
		log(triggerLocalPath)
		continue

	} else if Topic246 == topic2 { // 11
		if f, ok1 := rule.(func(data *sensor_msgs.PointCloud2) string); ok1 {
		Rule246 = append(Rule246, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic247 == topic2 { // 12
		if f, ok1 := rule.(func(data *visualization_msgs.MarkerArray) string); ok1 {
		Rule247 = append(Rule247, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic248 == topic2 { // 13
		if f, ok1 := rule.(func(data *common_msgs.SensorTask) string); ok1 {
		Rule248 = append(Rule248, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic249 == topic2 { // 14
		if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
		Rule249 = append(Rule249, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic250 == topic2 { // 15
		if f, ok1 := rule.(func(data *geometry_msgs.Vector3Stamped) string); ok1 {
		Rule250 = append(Rule250, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic251 == topic2 { // 16
		if f, ok1 := rule.(func(data *common_msgs.SonarList) string); ok1 {
		Rule251 = append(Rule251, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic252 == topic2 { // 17
		if f, ok1 := rule.(func(data *nav_msgs.Odometry) string); ok1 {
		Rule252 = append(Rule252, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic253 == topic2 { // 18
		if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
		Rule253 = append(Rule253, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic254 == topic2 { // 19
		if f, ok1 := rule.(func(data *std_msgs.Bool) string); ok1 {
		Rule254 = append(Rule254, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic255 == topic2 { // 20
		if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
		Rule255 = append(Rule255, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic256 == topic2 { // 21
		if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
		Rule256 = append(Rule256, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic257 == topic2 { // 22
		if f, ok1 := rule.(func(data *std_msgs.Bool) string); ok1 {
		Rule257 = append(Rule257, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic258 == topic2 { // 23
		if f, ok1 := rule.(func(data *sensor_msgs.CameraInfo) string); ok1 {
		Rule258 = append(Rule258, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic259 == topic2 { // 24
		if f, ok1 := rule.(func(data *common_msgs.SysInfo) string); ok1 {
		Rule259 = append(Rule259, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic260 == topic2 { // 25
		if f, ok1 := rule.(func(data *sensor_msgs.Image) string); ok1 {
		Rule260 = append(Rule260, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic261 == topic2 { // 26
		if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
		Rule261 = append(Rule261, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic262 == topic2 { // 27
		if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
		Rule262 = append(Rule262, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic263 == topic2 { // 28
		if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
		Rule263 = append(Rule263, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic264 == topic2 { // 29
		if f, ok1 := rule.(func(data *sensor_msgs.CompressedImage) string); ok1 {
		Rule264 = append(Rule264, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic265 == topic2 { // 30
		if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
		Rule265 = append(Rule265, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic266 == topic2 { // 31
		if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
		Rule266 = append(Rule266, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic267 == topic2 { // 32
		if f, ok1 := rule.(func(data *theora_image_transport.Packet) string); ok1 {
		Rule267 = append(Rule267, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic268 == topic2 { // 33
		if f, ok1 := rule.(func(data *dynamic_reconfigure.ConfigDescription) string); ok1 {
		Rule268 = append(Rule268, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic269 == topic2 { // 34
		if f, ok1 := rule.(func(data *dynamic_reconfigure.Config) string); ok1 {
		Rule269 = append(Rule269, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic270 == topic2 { // 35
		if f, ok1 := rule.(func(data *std_msgs.Bool) string); ok1 {
		Rule270 = append(Rule270, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic271 == topic2 { // 36
		if f, ok1 := rule.(func(data *geometry_msgs.PoseStamped) string); ok1 {
		Rule271 = append(Rule271, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic272 == topic2 { // 37
		if f, ok1 := rule.(func(data *geometry_msgs.Vector3Stamped) string); ok1 {
		Rule272 = append(Rule272, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic273 == topic2 { // 38
		if f, ok1 := rule.(func(data *common_msgs.TaskFeedbackInfo) string); ok1 {
		Rule273 = append(Rule273, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic274 == topic2 { // 39
		if f, ok1 := rule.(func(data *common_msgs.Points) string); ok1 {
		Rule274 = append(Rule274, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic275 == topic2 { // 40
		if f, ok1 := rule.(func(data *tf2_msgs.TFMessage) string); ok1 {
		Rule275 = append(Rule275, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic276 == topic2 { // 41
		if f, ok1 := rule.(func(data *std_msgs.String) string); ok1 {
		Rule276 = append(Rule276, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic277 == topic2 { // 42
		if f, ok1 := rule.(func(data *tf2_msgs.TFMessage) string); ok1 {
		Rule277 = append(Rule277, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic278 == topic2 { // 43
		if f, ok1 := rule.(func(data *nav_msgs.Path) string); ok1 {
		Rule278 = append(Rule278, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic279 == topic2 { // 44
		if f, ok1 := rule.(func(data *common_msgs.UpLoadFileList) string); ok1 {
		Rule279 = append(Rule279, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic280 == topic2 { // 45
		if f, ok1 := rule.(func(data *sensor_msgs.Range) string); ok1 {
		Rule280 = append(Rule280, f)
		goto JudgeDone
		}
		log(triggerLocalPath)
		continue

		} else if Topic281 == topic2 { // 46
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				Rule281 = append(Rule281, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic282 == topic2 { // 47
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				Rule282 = append(Rule282, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic283 == topic2 { // 48
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				Rule283 = append(Rule283, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue

		} else if Topic284 == topic2 { // 49
			if f, ok1 := rule.(func(data *sensor_msgs.LaserScan) string); ok1 {
				Rule284 = append(Rule284, f)
				goto JudgeDone
			}
			log(triggerLocalPath)
			continue
		} else {
			c_log.GlobalLogger.Error("未知的topic：", topic2)
			continue
		}
	JudgeDone:
		label, err := open.Lookup("Label")
		if err != nil {
			c_log.GlobalLogger.Error("加载本地插件 ", triggerLocalPath, " 中的 Label 方法失败。", err)
			continue
		}
		labelFunc := label.(func() string)
		labelString := labelFunc()
		LabelMapTriggerId.Store(labelString, triggerId)
		success++
	}
	c_log.GlobalLogger.Info("一共应加载", len(config.PlatformConfig.TaskTriggers), "个触发器，实际加载 ", success, " 个触发器。")
}