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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: 192.168.1.102:11311
- nodes:
- - /camera_output
- - /ins
- - /lidar_pretreatment
- - /sensorfusion
- - /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: 192.168.1.102
- rosbag:
- path: "/opt/ros/melodic/bin/rosbag"
- envs:
- - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/usr/lib::/usr/lib:/userdata/third_lib/libaicc"
- - "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=192.168.1.102"
- - "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:
- - /camera_image # /camera_output
- - /cicv_amr_trajectory
- - /pj_control_pub # /control
- - /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
- - name: node2
- ip: 192.168.1.103
- 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:
- - /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
- - /roi/polygon
- - /tpperception/vis
- 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
|
