# 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
full-collect: true
bag-number: 120
config-refresh-interval: 60
disk:
  name: /dev/vdb # 磁盘名称
  used: 5242880 # 磁盘占用阈值，单位bytes
bag-data-dir: /mnt/media/sda1/rosbag-handle/data/
bag-copy-dir: /mnt/media/sda1/rosbag-handle/copy/
triggers-dir: /mnt/media/sda1/rosbag-handle/triggers/
time-window-send-gap: 6
tcp-port: 12340
rpc-port: 12341
ros:
  master-address: 192.168.1.102:11311
  nodes:
    - /GlobalWay
    - /ObstacleInfo
    - /ObstacleInfo_zd
    - /Trajectorydisplay
    - /camera_output
    - /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:
      envs:
        - ""
      path: "/opt/ros/melodic/bin/rosbag"
    topics:
      - /camera_image
      - /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

  - name: node2
    ip: 192.168.1.103
    rosbag:
      envs:
        - ""
      path: "/opt/ros/melodic/bin/rosbag"
    rosbag-path:
    topics:
      - /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
triggers:
  - label: rapidaccel
    topics:
      - /camera_image
      - /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:
      - /camera_image
      - /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:
      - /camera_image
      - /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:
      - /camera_image
      - /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:
      - /camera_image
      - /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:
      - /camera_image
      - /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:
      - /camera_image
      - /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:
      - /camera_image
      - /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