lyq
25f6914b41
主要更新内容： - 更新主配置文件 config.json - 优化启动脚本：prepare.sh、run.sh、start_all.sh - 新增GPS加载文件 gps_load_now.txt 和路由文件 - 功能单元(fu)：更新参数配置和节点逻辑 - 主控(mc)：改进定时任务处理 - MQTT报告：更新客户端配置和通信逻辑 - 路径规划(pl)：优化节点功能 - GPS发布：增强数据发布模块 - 无线电控制：改进控制逻辑 - 远程控制：优化节点处理 - 雷达点云合并：更新启动配置 - RTK定位：改进节点功能 - 订阅模块：优化数据订阅逻辑 - 任务管理器：增强任务管理功能
29 lines
955 B
JSON
29 lines
955 B
JSON
{
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"mqtt": {
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"vid": "V060003",
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"upload_url": "https://qsc.ntiov.com:8443/api/sys/route/upload",
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"download_url_pre": "http://36.153.162.171:9510/api/ccp-web/file/",
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"inter_net_address": "tcp://192.168.4.196",
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"inter_net_port": 11883,
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"external_net_address": "tcp://36.153.162.171",
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"external_net_port": 19683,
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"mqtt_user": "zxwl",
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"mqtt_password": "zxwl1234@",
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"pub_gps_topic": "/zxwl/vehicle/V060003/gps",
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"remote_topic": "/zxwl/vehicle/V060003/ctrl",
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"mqtt_topic_push_status": "/zxwl/vehicle/V060003/task/status",
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"mqtt_topic_sub_task": "/zxwl/vehicle/V060003/task"
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},
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"detect_line_tolerance": 3.06,
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"detect_head_tolerance": 2,
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"lidar_detect_locate": {
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"front": 5,
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"f_front": 18,
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"rear": -8,
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"r_rear": -16,
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"left": -6,
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"l_left": -13,
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"right": 6,
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"r_right": 13
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}
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} |