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README.md

@@ -44,6 +44,8 @@ secret：xZ2Fozoarpfw0z28FUhtg8cu0yDc5d
 
 
 
-# 室外机器人
-## 配送机器人
-rosbag record --split --duration=1 /robot_pose /robot/realtime_cost_map_ /tracking/objects /robot/TaskInfo /robot/targetposition /wheel /wheel_odom /robot/global_trajectory_ /robot/target_trajectories /robot/evaluator_trajectories /robot/final_trajectory /nav/task_feedback_info /cmd_vel /imu /points_cluster /nav/task_feedback_info /points_concat
+# 采集话题
+## 引导机器人
+rosbag record --split --duration=1  /amcl_pose,/ob_camera_01/color/image_raw,/ob_camera_02/color/image_raw,/diagnostics,/locate_info,/obstacle_detection,/odom,/move_base/global_costmap/costmap,/move_base/global_costmap/costmap_updates,/move_base/local_costmap/costmap,/move_base/local_costmap/costmap_updates,/scan,/scan_map_icp_amcl_node/scan_point_transformed,/sys_info,/imu,/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
+## 配送机器人 & 巡检机器人
+rosbag record --split --duration=1 /robot_pose /robot/realtime_cost_map_ /tracking/objects /robot/TaskInfo /robot/targetposition /wheel /wheel_odom /robot/global_trajectory_ /robot/target_trajectories /robot/evaluator_trajectories /robot/final_trajectory /nav/task_feedback_info /cmd_vel /imu /points_cluster /nav/task_feedback_info /points_concat /velodyne_points /image_raw /prediction/motion_predictor/objects

aarch64/pjibot_delivery/配送机器人默认配置文件-cloud-config.yaml

@@ -80,6 +80,9 @@ hosts:
       - /imu # /trii_receive
       - /points_cluster # /lidar_euclidean_cluster_detect
       - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
+      - /velodyne_points
+      - /image_raw
+      - /prediction/motion_predictor/objects
 
 
 full-collect: true # 控制是否根据不同的触发器采集不通的topic，一般设置为true，即忽略下面的配置