# 全量采集topic
---
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
bag-number: 120
config-refresh-interval: 60
disk:
  name: /dev/vdb # 磁盘名称
  used: 800000000000 # 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/
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:
    - /control
#    - /GlobalWay
#    - /ObstacleInfo
#    - /ObstacleInfo_zd
#    - /Trajectorydisplay
#    - /ch128x1/lslidar_driver_node
#    - /ch64_left/lslidar_driver_node
#    - /ch64_mid/lslidar_driver_node
#    - /ch64_right/lslidar_driver_node
#    - /dpi_map_engine
#    - /front_radars_receive_node
#    - /ins
#    - /ins_diagnosis
#    - /lidar_deeplearning
#    - /lidar_fast_euclidean_cluster_detect
#    - /lidar_fusion
#    - /lidar_pretreatment
#    - /planner_s4_gd
#    - /planning_rviz
#    - /planning_task_manage
#    - /polygon_display
#    - /r_des
#    - /r_light
#    - /r_loc
#    - /r_location
#    - /r_speed
#    - /rnode
#    - /rosout
#    - /sensors_fusion_node
#    - /stationinfo
#    - /utmTOll_node
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:
      - /AutoModeStatus # /control
      - /cam_objects
      - /cam_res
      - /car_wheel # /control
      - /cicv/lidardeeplearning_moving_objects
      - /cicv/lidarcluster_moving_objects
      - /cicv/lidarfusionmovingobject
      - /cicv/lidartrackingmovingobjects
      - /cicv_location
      - /cicv_location_JL
      - /cicv_amr_trajectory
      - /data_read
      - /f_radar_objects
      - /fusion/vis/box
      - /fusion/vis/velocity
      - /heartbeat_info
      - /jinlong_control_pub
      - /jinlong_flag_pub
      - /map_polygon
      - /nodefault_info
      - /reference_trajectory
      - /tftrafficlight
      - /tprouteplan
      - /vehicle_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:
      - /ch128x1/lslidar_main
      - /ch64_left/lslidar_left
      - /ch64_mid/lslidar_mid
      - /ch64_right/lslidar_right
      - /points_concat
      - /roi/points
      - /roi/polygon
      - /tpperception
      - /tpperception/hmi
      - /unground_cloudpoints
full-collect: true
triggers:
  - label: rapidaccel
    topics:
      - /cam_res
      - /fusion/vis/velocity
      - /cicv/lidartracking_moving_objects
      - /cicv_location
      - /cicv/lidarfusionmovingobject
      - /cicv/lidardeeplearning_moving_objects
      - /cicv/lidarcluster_moving_objects
      - /cam_objects
      - /f_radar_objects
      - /fusion/vis/box
      - /cicv_amr_trajectory
      - /map_polygon
      - /reference_trajectory
      - /tprouteplan
      - /jinlong_control_pub
      - /vehicle_info
      - /tftrafficlight
      - /cicv_location_JL
      - /jinlong_flag_pub
      - /car_wheel
      - /nodefault_info
      - /AutoModeStatus
      - /heartbeat_info
      - /data_read
      - /ch128x1/lslidar_main
      - /ch64_mid/lslidar_mid
      - /ch64_right/lslidar_right
      - /ch64_left/lslidar_left
      - /roi/points
      - /roi/polygon
      - /unground_cloudpoints
      - /points_concat
      - /tpperception
      - /tpperception/hmi
  - label: brake
    topics:
      - /cam_res
      - /fusion/vis/velocity
      - /cicv/lidartracking_moving_objects
      - /cicv_location
      - /cicv/lidarfusionmovingobject
      - /cicv/lidardeeplearning_moving_objects
      - /cicv/lidarcluster_moving_objects
      - /cam_objects
      - /f_radar_objects
      - /fusion/vis/box
      - /cicv_amr_trajectory
      - /map_polygon
      - /reference_trajectory
      - /tprouteplan
      - /jinlong_control_pub
      - /vehicle_info
      - /tftrafficlight
      - /cicv_location_JL
      - /jinlong_flag_pub
      - /car_wheel
      - /nodefault_info
      - /AutoModeStatus
      - /heartbeat_info
      - /data_read
      - /ch128x1/lslidar_main
      - /ch64_mid/lslidar_mid
      - /ch64_right/lslidar_right
      - /ch64_left/lslidar_left
      - /roi/points
      - /roi/polygon
      - /unground_cloudpoints
      - /points_concat
      - /tpperception
      - /tpperception/hmi
  - label: EmergencyStop
    topics:
      - /cam_res
      - /fusion/vis/velocity
      - /cicv/lidartracking_moving_objects
      - /cicv_location
      - /cicv/lidarfusionmovingobject
      - /cicv/lidardeeplearning_moving_objects
      - /cicv/lidarcluster_moving_objects
      - /cam_objects
      - /f_radar_objects
      - /fusion/vis/box
      - /cicv_amr_trajectory
      - /map_polygon
      - /reference_trajectory
      - /tprouteplan
      - /jinlong_control_pub
      - /vehicle_info
      - /tftrafficlight
      - /cicv_location_JL
      - /jinlong_flag_pub
      - /car_wheel
      - /nodefault_info
      - /AutoModeStatus
      - /heartbeat_info
      - /data_read
      - /ch128x1/lslidar_main
      - /ch64_mid/lslidar_mid
      - /ch64_right/lslidar_right
      - /ch64_left/lslidar_left
      - /roi/points
      - /roi/polygon
      - /unground_cloudpoints
      - /points_concat
      - /tpperception
      - /tpperception/hmi
  - label: AutoDLimit
    topics:
      - /cam_res
      - /fusion/vis/velocity
      - /cicv/lidartracking_moving_objects
      - /cicv_location
      - /cicv/lidarfusionmovingobject
      - /cicv/lidardeeplearning_moving_objects
      - /cicv/lidarcluster_moving_objects
      - /cam_objects
      - /f_radar_objects
      - /fusion/vis/box
      - /cicv_amr_trajectory
      - /map_polygon
      - /reference_trajectory
      - /tprouteplan
      - /jinlong_control_pub
      - /vehicle_info
      - /tftrafficlight
      - /cicv_location_JL
      - /jinlong_flag_pub
      - /car_wheel
      - /nodefault_info
      - /AutoModeStatus
      - /heartbeat_info
      - /data_read
      - /ch128x1/lslidar_main
      - /ch64_mid/lslidar_mid
      - /ch64_right/lslidar_right
      - /ch64_left/lslidar_left
      - /roi/points
      - /roi/polygon
      - /unground_cloudpoints
      - /points_concat
      - /tpperception
      - /tpperception/hmi
  - label: lanechange
    topics:
      - /cam_res
      - /fusion/vis/velocity
      - /cicv/lidartracking_moving_objects
      - /cicv_location
      - /cicv/lidarfusionmovingobject
      - /cicv/lidardeeplearning_moving_objects
      - /cicv/lidarcluster_moving_objects
      - /cam_objects
      - /f_radar_objects
      - /fusion/vis/box
      - /cicv_amr_trajectory
      - /map_polygon
      - /reference_trajectory
      - /tprouteplan
      - /jinlong_control_pub
      - /vehicle_info
      - /tftrafficlight
      - /cicv_location_JL
      - /jinlong_flag_pub
      - /car_wheel
      - /nodefault_info
      - /AutoModeStatus
      - /heartbeat_info
      - /data_read
      - /ch128x1/lslidar_main
      - /ch64_mid/lslidar_mid
      - /ch64_right/lslidar_right
      - /ch64_left/lslidar_left
      - /roi/points
      - /roi/polygon
      - /unground_cloudpoints
      - /points_concat
      - /tpperception
      - /tpperception/hmi
  - label: brakefault
    topics:
      - /cam_res
      - /fusion/vis/velocity
      - /cicv/lidartracking_moving_objects
      - /cicv_location
      - /cicv/lidarfusionmovingobject
      - /cicv/lidardeeplearning_moving_objects
      - /cicv/lidarcluster_moving_objects
      - /cam_objects
      - /f_radar_objects
      - /fusion/vis/box
      - /cicv_amr_trajectory
      - /map_polygon
      - /reference_trajectory
      - /tprouteplan
      - /jinlong_control_pub
      - /vehicle_info
      - /tftrafficlight
      - /cicv_location_JL
      - /jinlong_flag_pub
      - /car_wheel
      - /nodefault_info
      - /AutoModeStatus
      - /heartbeat_info
      - /data_read
      - /ch128x1/lslidar_main
      - /ch64_mid/lslidar_mid
      - /ch64_right/lslidar_right
      - /ch64_left/lslidar_left
      - /roi/points
      - /roi/polygon
      - /unground_cloudpoints
      - /points_concat
      - /tpperception
      - /tpperception/hmi
  - label: takeover
    topics:
      - /cam_res
      - /fusion/vis/velocity
      - /cicv/lidartracking_moving_objects
      - /cicv_location
      - /cicv/lidarfusionmovingobject
      - /cicv/lidardeeplearning_moving_objects
      - /cicv/lidarcluster_moving_objects
      - /cam_objects
      - /f_radar_objects
      - /fusion/vis/box
      - /cicv_amr_trajectory
      - /map_polygon
      - /reference_trajectory
      - /tprouteplan
      - /jinlong_control_pub
      - /vehicle_info
      - /tftrafficlight
      - /cicv_location_JL
      - /jinlong_flag_pub
      - /car_wheel
      - /nodefault_info
      - /AutoModeStatus
      - /heartbeat_info
      - /data_read
      - /ch128x1/lslidar_main
      - /ch64_mid/lslidar_mid
      - /ch64_right/lslidar_right
      - /ch64_left/lslidar_left
      - /roi/points
      - /roi/polygon
      - /unground_cloudpoints
      - /points_concat
      - /tpperception
      - /tpperception/hmi
  - label: TTC
    topics:
      - /cam_res
      - /fusion/vis/velocity
      - /cicv/lidartracking_moving_objects
      - /cicv_location
      - /cicv/lidarfusionmovingobject
      - /cicv/lidardeeplearning_moving_objects
      - /cicv/lidarcluster_moving_objects
      - /cam_objects
      - /f_radar_objects
      - /fusion/vis/box
      - /cicv_amr_trajectory
      - /map_polygon
      - /reference_trajectory
      - /tprouteplan
      - /jinlong_control_pub
      - /vehicle_info
      - /tftrafficlight
      - /cicv_location_JL
      - /jinlong_flag_pub
      - /car_wheel
      - /nodefault_info
      - /AutoModeStatus
      - /heartbeat_info
      - /data_read
      - /ch128x1/lslidar_main
      - /ch64_mid/lslidar_mid
      - /ch64_right/lslidar_right
      - /ch64_left/lslidar_left
      - /roi/points
      - /roi/polygon
      - /unground_cloudpoints
      - /points_concat
      - /tpperception
      - /tpperception/hmi