---
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: false
bag-number: 60
config-refresh-interval: 60
disk:
  name: /dev/mmcblk0p8 # 磁盘名称
  used: 20000000000 # 磁盘占用阈值，单位bytes
map-bag-path: /root/cicv-data-closedloop/map.bag
bag-data-dir: /root/cicv-data-closedloop/data/
bag-copy-dir: /root/cicv-data-closedloop/copy/
triggers-dir: /root/cicv-data-closedloop/triggers/
time-window-send-gap: 6
rpc-port: 12341
ros:
  master-address: 192.168.1.104:11311
  nodes:
    - /amcl
    - /ob_camera_01/camera
    - /ob_camera_02/camera
    - /node_diagnostics
    - /localization_monitor_node
    - /move_base
    - /sensor_fusion_node
    - /ltme_node
    - /scan_map_icp_amcl_node
    - /monitor

hosts:
  - name: node1
    ip: 192.168.1.104
    rosbag:
      path: "/opt/ros/melodic/bin/rosbag"
      envs:
        - "C_INCLUDE_PATH=/usr/include/drm:"
        - "USER=root"
        - "ROS_PACKAGE_PATH=/opt/ros/melodic/share"
        - "LD_LIBRARY_PATH=/opt/ros/melodic/lib:/opt/ros/melodic/lib/aarch64-linux-gnu"
        - "ROS_ETC_DIR=/opt/ros/melodic/etc/ros"
        - "SHLVL=1"
        - "HOME=/root"
        - "ROS_PYTHON_VERSION=2"
        - "PCMANFM_OUTLINE_MODE=on"
        - "CPLUS_INCLUDE_PATH=/usr/include/drm:"
        - "ROS_DISTRO=melodic"
        - "ROS_VERSION=1"
        - "PKG_CONFIG_PATH=/opt/ros/melodic/lib/pkgconfig"
        - "PATH=/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/usr/local/go/bin:/root/go/bin"
        - "ROS_ROOT=/opt/ros/melodic/share/ros"
        - "ROSLISP_PACKAGE_DIRECTORIES="
        - "ROS_MASTER_URI=http://192.168.1.104:11311"
        - "PYTHONPATH=/opt/ros/melodic/lib/python2.7/dist-packages"
        - "ROS_HOSTNAME=192.168.1.104"
        - "CMAKE_PREFIX_PATH=/opt/ros/melodic"
    topics:
      - /amcl_pose # /amcl
      - /ob_camera_01/color/image_raw # /ob_camera_01/camera
      #      - /ob_camera_01/depth/points # /ob_camera_01/camera
      - /ob_camera_02/color/image_raw # /ob_camera_02/camera
      #      - /ob_camera_02/depth/points # /ob_camera_02/camera
      - /diagnostics # /amcl /node_diagnostics
      - /locate_info # /localization_monitor_node
      - /obstacle_detection # /move_base
      - /odom # /sensor_fusion_node
      - /move_base/global_costmap/costmap # /move_base
      - /move_base/global_costmap/costmap_updates # /move_base
      - /move_base/local_costmap/costmap # /move_base
      - /move_base/local_costmap/costmap_updates # /move_base
      - /scan # /ltme_node
      - /scan_map_icp_amcl_node/scan_point_transformed # /scan_map_icp_amcl_node
      - /sys_info
      #      - /cmd_vel
      - /imu
      # 算法评价新增
      - /depth_scan_02
      - /map
      - /scan_filtered
      - /sonar_left
      - /sonar_right
      - /sonar_mid
      - /sonar_rmid
      - /tf
      - /tf_static
      - /cmd_vel
      - /move_base/DWAPlannerROS/global_plan
      - /move_base/DWAPlannerROS/local_plan
      - /move_base/GlobalPlanner/plan
      - /move_base/global_costmap/footprint
      - /move_base/local_costmap/footprint
      - /robot_pose_tf


triggers:
  - label: detectfault
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed
  - label: unstabledriving
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed
  - label: locationfailed
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed
  - label: obstacledetection
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed
  - label: overspeed
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed
  - label: cpuoveroccupied
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed
  - label: memoveroccupied
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed