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- ---
- 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
- 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
- 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:
- - /ins # 定位
- 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"
- - "ROS_PYTHON_VERSION=3"
- - "ROS_PACKAGE_PATH=/opt/ros/noetic/share"
- - "ROS_IP=192.168.1.104"
- - "ROS_ETC_DIR=/opt/ros/noetic/etc/ros"
- - "ROS_MASTER_URI=http://192.168.1.104:11311"
- - "ROS_HOSTNAME=192.168.1.104"
- - "LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:/opt/ros/noetic/lib:/home/pji/Fast-DDS/install/lib"
- - "ROS_ROOT=/opt/ros/noetic/share/ros"
- - "ROS_DISTRO=noetic"
- topics:
- - /cam_3D # 感知
- - /car_wheel
- - /ch64w/rear
- - /ch64w_l/lslidar_point_cloud
- - /ch64w_q/lslidar_point_cloud
- - /ch64w_r/lslidar_point_cloud
- - /cicv/lidarfusionmovingobject
- - /cicv_location
- - /f_radar_objects
- - /fusion/vis/box
- - /fusion/vis/camera
- - /fusion/vis/camera_text
- - /fusion/vis/velocity
- - /lidar_objects_cluster
- - /lidar_objects_deeplearning
- - /lidar_objects_fusion
- - /lslidar_point_cloud
- - /map_polygon
- - /roi/polygon/rosout
- - /cicv_amr_trajectory # 规划控制
- - /trajectory_display
- - /reference_trajectory
- - /tpperception
- - /tprouteplan
- - /jinglong_control_pub
- - /vehicle_info
- - /tftrafficlight
- - /DestinationLocationInfo
- - /end_point_message
- - /amr_pose
- - /map_display
- - /obstacle_display
- - /reference_display
- - /lidar_roi
- - name: node2
- ip: 192.168.1.105
- rosbag:
- path: "/opt/ros/melodic/bin/rosbag"
- envs:
- - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib"
- - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
- - "USER=root"
- - "ROS_OS_OVERRIDE=openembedded"
- - "PWD=/mnt/media/sda1/cicv-data-closedloop"
- - "HOME=/home/root"
- - "CMAKE_PREFIX_PATH=/opt/ros/melodic:/usr"
- - "ROS_ROOT=/opt/ros/melodic/share/ros"
- - "ROS_MASTER_URI=http://192.168.1.102:11311"
- - "ROS_VERSION=1"
- - "ROS_PYTHON_VERSION=2"
- - "ROS_IP=192.168.1.103"
- - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages:/usr/lib/python2.7/site-packages"
- - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
- - "PATH=/opt/ros/melodic/bin:/usr/bin/cyber/tools/cyber_service:/usr/bin/cyber/tools/cyber_node:/usr/bin/cyber/tools/cyber_channel:/usr/bin/cyber/tools/cyber_launch:/usr/bin/cyber/tools/cyber_monitor:/usr/bin/cyber/tools/cyber_recorder:/apollo/bazel-bin/cyber:/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin "
- - "PKG_CONFIG_PATH=/usr/lib/pkgconfig"
- - "ROS_DISTRO=melodic"
- topics:
- - ""
- - ""
- triggers:
- - label: ""
- topics:
- - ""
- - ""
|
