修改配置文件和路径文件

config.json

@@ -9,12 +9,10 @@
         "external_net_port": 19683,
         "mqtt_user": "zxwl",
         "mqtt_password": "zxwl1234@",
-        "pub_gps_topic": "/zxwl/vehicle/V060003/gps",
+        "pub_gps_topic": "/zxwl/sweeper/V060003/gps",
-        "remote_topic": "/zxwl/vehicle/V060003/ctrl",
+        "remote_topic": "/zxwl/sweeper/V060003/ctrl",
-        "mqtt_topic_push_status": "/zxwl/vehicle/V060003/task/status",
+        "mqtt_topic_push_status": "/zxwl/sweeper/V060003/task/status",
-        "mqtt_topic_sub_task": "/zxwl/vehicle/V060003/task",
+        "mqtt_topic_sub_task": "/zxwl/sweeper/V060003/task"
-        "info_topic": "/zxwl/vehicle/V060003/info",
-        "fault_topic": "/zxwl/vehicle/V060003/fault"
     },
     "detect_line_tolerance": 3.06,
     "detect_head_tolerance": 2,

gps_load_now.txt

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routes/gps_load_1767938262858.txt

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src/autonomy/fu/config/fu_params.yaml

@@ -1,7 +1,7 @@
 FU:
   ros__parameters:
     # 遇障停车功能 False or True
-    enable_obstacle_stop: False
+    enable_obstacle_stop: True
 
     # 绕障功能 False or True
     enable_obstacle_avoid: False  

src/autonomy/pl/src/pl_node.cpp

@@ -144,7 +144,7 @@ private:
         sweeper_interfaces::msg::Pl message;
         message.x = x;
         message.y = y;
-        
+
         // 修改：同时判断RTK信号质量和超时情况
         if (g_rtk.reliability == 0 || time_since_last > rtk_timeout)
         {

src/communication/mqtt_report/config/config.json

@@ -3,7 +3,7 @@
   "mqtt": {
     "ip": "36.153.162.171",
     "port": 19683,
-    "info_topic": "/zxwl/vehicle/{vid}/info",
+    "info_topic": "/zxwl/sweeper/{vid}/info",
-    "fault_topic": "/zxwl/vehicle/{vid}/fault"
+    "fault_topic": "/zxwl/sweeper/{vid}/fault"
   }
 }

src/control/remote_ctrl/config/config.ini

@@ -3,4 +3,4 @@ host = 36.153.162.171
 port = 19683
 username = zxwl
 password = zxwl1234@
-vehicle_id = V090001
+vehicle_id = V060003