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@@ -1,390 +0,0 @@
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-# 全量采集topic
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----
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-platform:
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- url-device-auth: http://139.9.199.227:30991/device/auth
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- url-task-poll: http://139.9.199.227:30991/device/task/poll
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- url-task: http://139.9.199.227:30991/device/task
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-full-collect: true
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-bag-number: 120
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-config-refresh-interval: 60
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-disk-usage: 90
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-bag-data-dir: /mnt/media/sda1/rosbag-handle/data/
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-bag-copy-dir: /mnt/media/sda1/rosbag-handle/copy/
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-triggers-dir: /mnt/media/sda1/rosbag-handle/triggers/
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-time-window-send-gap: 6
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-tcp-port: 12340
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-rpc-port: 12341
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-ros:
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- master-address: 192.168.1.102:11311
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- nodes:
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- - /GlobalWay
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- - /ObstacleInfo
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- - /ObstacleInfo_zd
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- - /Trajectorydisplay
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- - /camera_output
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- - /ch128x1/lslidar_driver_node
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- - /ch64_left/lslidar_driver_node
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- - /ch64_mid/lslidar_driver_node
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- - /ch64_right/lslidar_driver_node
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- - /dpi_map_engine
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- - /front_radars_receive_node
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- - /ins
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- - /ins_diagnosis
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- - /lidar_deeplearning
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- - /lidar_fast_euclidean_cluster_detect
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- - /lidar_fusion
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- - /lidar_pretreatment
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- - /planner_s4_gd
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- - /planning_rviz
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- - /planning_task_manage
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- - /polygon_display
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- - /r_des
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- - /r_light
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- - /r_loc
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- - /r_location
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- - /r_speed
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- - /rnode
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- - /rosout
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- - /sensors_fusion_node
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- - /stationinfo
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- - /utmTOll_node
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-hosts:
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- - name: node1
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- ip: 192.168.1.102
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- topics:
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- - /camera_image
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- - /cam_res
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- - /fusion/vis/velocity
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- - /cicv/lidartracking_moving_objects
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- - /cicv_location
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- - /cicv/lidarfusionmovingobject
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- - /cicv/lidardeeplearning_moving_objects
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- - /cicv/lidarcluster_moving_objects
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- - /cam_objects
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- - /f_radar_objects
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- - /fusion/vis/box
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- - /cicv_amr_trajectory
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- - /map_polygon
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- - /reference_trajectory
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- - /tprouteplan
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- - /jinlong_control_pub
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- - /vehicle_info
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- - /tftrafficlight
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- - /cicv_location_JL
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- - /jinlong_flag_pub
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- - /car_wheel
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- - /nodefault_info
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- - /AutoModeStatus
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- - /heartbeat_info
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- - /data_read
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- - name: node2
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- ip: 192.168.1.103
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- topics:
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- - /ch128x1/lslidar_main
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- - /ch64_mid/lslidar_mid
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- - /ch64_right/lslidar_right
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- - /ch64_left/lslidar_left
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- - /roi/points
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- - /roi/polygon
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- - /unground_cloudpoints
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- - /points_concat
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- - /tpperception
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- - /tpperception/hmi
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- -
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-triggers:
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- - label: rapidaccel
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- topics:
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- - /camera_image
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- - /cam_res
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- - /fusion/vis/velocity
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- - /cicv/lidartracking_moving_objects
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- - /cicv_location
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- - /cicv/lidarfusionmovingobject
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- - /cicv/lidardeeplearning_moving_objects
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- - /cicv/lidarcluster_moving_objects
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- - /cam_objects
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- - /f_radar_objects
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- - /fusion/vis/box
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- - /cicv_amr_trajectory
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- - /map_polygon
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- - /reference_trajectory
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- - /tprouteplan
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- - /jinlong_control_pub
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- - /vehicle_info
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- - /tftrafficlight
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- - /cicv_location_JL
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- - /jinlong_flag_pub
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- - /car_wheel
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- - /nodefault_info
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- - /AutoModeStatus
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- - /heartbeat_info
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- - /data_read
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- - /ch128x1/lslidar_main
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- - /ch64_mid/lslidar_mid
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- - /ch64_right/lslidar_right
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- - /ch64_left/lslidar_left
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- - /roi/points
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- - /roi/polygon
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- - /unground_cloudpoints
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- - /points_concat
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- - /tpperception
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- - /tpperception/hmi
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- - label: brake
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- topics:
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- - /camera_image
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- - /cam_res
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- - /fusion/vis/velocity
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- - /cicv/lidartracking_moving_objects
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- - /cicv_location
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- - /cicv/lidarfusionmovingobject
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- - /cicv/lidardeeplearning_moving_objects
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- - /cicv/lidarcluster_moving_objects
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- - /cam_objects
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- - /f_radar_objects
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- - /fusion/vis/box
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- - /cicv_amr_trajectory
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- - /map_polygon
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- - /reference_trajectory
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- - /tprouteplan
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- - /jinlong_control_pub
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- - /vehicle_info
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- - /tftrafficlight
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- - /cicv_location_JL
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- - /jinlong_flag_pub
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- - /car_wheel
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- - /nodefault_info
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- - /AutoModeStatus
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- - /heartbeat_info
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- - /data_read
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- - /ch128x1/lslidar_main
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- - /ch64_mid/lslidar_mid
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- - /ch64_right/lslidar_right
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- - /ch64_left/lslidar_left
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- - /roi/points
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- - /roi/polygon
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- - /unground_cloudpoints
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- - /points_concat
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- - /tpperception
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- - /tpperception/hmi
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- - label: EmergencyStop
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- topics:
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- - /camera_image
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- - /cam_res
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- - /fusion/vis/velocity
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- - /cicv/lidartracking_moving_objects
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- - /cicv_location
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- - /cicv/lidarfusionmovingobject
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- - /cicv/lidardeeplearning_moving_objects
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- - /cicv/lidarcluster_moving_objects
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- - /cam_objects
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- - /f_radar_objects
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- - /fusion/vis/box
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- - /cicv_amr_trajectory
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- - /map_polygon
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- - /reference_trajectory
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- - /tprouteplan
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- - /jinlong_control_pub
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- - /vehicle_info
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- - /tftrafficlight
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- - /cicv_location_JL
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- - /jinlong_flag_pub
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- - /car_wheel
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- - /nodefault_info
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- - /AutoModeStatus
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- - /heartbeat_info
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- - /data_read
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- - /ch128x1/lslidar_main
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- - /ch64_mid/lslidar_mid
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- - /ch64_right/lslidar_right
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- - /ch64_left/lslidar_left
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- - /roi/points
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- - /roi/polygon
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- - /unground_cloudpoints
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- - /points_concat
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- - /tpperception
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- - /tpperception/hmi
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- - label: AutoDLimit
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- topics:
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- - /camera_image
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- - /cam_res
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- - /fusion/vis/velocity
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- - /cicv/lidartracking_moving_objects
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- - /cicv_location
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- - /cicv/lidarfusionmovingobject
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- - /cicv/lidardeeplearning_moving_objects
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- - /cicv/lidarcluster_moving_objects
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- - /cam_objects
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- - /f_radar_objects
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- - /fusion/vis/box
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- - /cicv_amr_trajectory
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- - /map_polygon
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- - /reference_trajectory
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- - /tprouteplan
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- - /jinlong_control_pub
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- - /vehicle_info
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- - /tftrafficlight
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- - /cicv_location_JL
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- - /jinlong_flag_pub
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- - /car_wheel
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- - /nodefault_info
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- - /AutoModeStatus
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- - /heartbeat_info
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- - /data_read
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- - /ch128x1/lslidar_main
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- - /ch64_mid/lslidar_mid
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- - /ch64_right/lslidar_right
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- - /ch64_left/lslidar_left
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- - /roi/points
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- - /roi/polygon
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- - /unground_cloudpoints
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- - /points_concat
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- - /tpperception
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- - /tpperception/hmi
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- - label: lanechange
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- topics:
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- - /camera_image
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- - /cam_res
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- - /fusion/vis/velocity
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- - /cicv/lidartracking_moving_objects
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- - /cicv_location
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- - /cicv/lidarfusionmovingobject
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- - /cicv/lidardeeplearning_moving_objects
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- - /cicv/lidarcluster_moving_objects
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- - /cam_objects
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- - /f_radar_objects
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- - /fusion/vis/box
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- - /cicv_amr_trajectory
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- - /map_polygon
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- - /reference_trajectory
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- - /tprouteplan
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- - /jinlong_control_pub
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- - /vehicle_info
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- - /tftrafficlight
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- - /cicv_location_JL
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- - /jinlong_flag_pub
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- - /car_wheel
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- - /nodefault_info
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- - /AutoModeStatus
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- - /heartbeat_info
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- - /data_read
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- - /ch128x1/lslidar_main
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- - /ch64_mid/lslidar_mid
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- - /ch64_right/lslidar_right
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- - /ch64_left/lslidar_left
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- - /roi/points
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- - /roi/polygon
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- - /unground_cloudpoints
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- - /points_concat
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- - /tpperception
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- - /tpperception/hmi
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- - label: brakefault
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- topics:
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- - /camera_image
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- - /cam_res
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- - /fusion/vis/velocity
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- - /cicv/lidartracking_moving_objects
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- - /cicv_location
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- - /cicv/lidarfusionmovingobject
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- - /cicv/lidardeeplearning_moving_objects
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- - /cicv/lidarcluster_moving_objects
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- - /cam_objects
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- - /f_radar_objects
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- - /fusion/vis/box
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- - /cicv_amr_trajectory
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- - /map_polygon
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- - /reference_trajectory
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- - /tprouteplan
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- - /jinlong_control_pub
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- - /vehicle_info
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- - /tftrafficlight
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- - /cicv_location_JL
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- - /jinlong_flag_pub
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- - /car_wheel
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- - /nodefault_info
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- - /AutoModeStatus
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- - /heartbeat_info
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- - /data_read
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- - /ch128x1/lslidar_main
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- - /ch64_mid/lslidar_mid
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- - /ch64_right/lslidar_right
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- - /ch64_left/lslidar_left
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- - /roi/points
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- - /roi/polygon
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- - /unground_cloudpoints
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- - /points_concat
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- - /tpperception
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- - /tpperception/hmi
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- - label: takeover
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- topics:
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- - /camera_image
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- - /cam_res
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- - /fusion/vis/velocity
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- - /cicv/lidartracking_moving_objects
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- - /cicv_location
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- - /cicv/lidarfusionmovingobject
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- - /cicv/lidardeeplearning_moving_objects
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- - /cicv/lidarcluster_moving_objects
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- - /cam_objects
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- - /f_radar_objects
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- - /fusion/vis/box
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- - /cicv_amr_trajectory
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- - /map_polygon
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- - /reference_trajectory
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- - /tprouteplan
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- - /jinlong_control_pub
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- - /vehicle_info
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- - /tftrafficlight
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- - /cicv_location_JL
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- - /jinlong_flag_pub
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- - /car_wheel
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- - /nodefault_info
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- - /AutoModeStatus
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- - /heartbeat_info
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- - /data_read
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- - /ch128x1/lslidar_main
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- - /ch64_mid/lslidar_mid
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- - /ch64_right/lslidar_right
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- - /ch64_left/lslidar_left
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- - /roi/points
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- - /roi/polygon
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- - /unground_cloudpoints
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- - /points_concat
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- - /tpperception
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- - /tpperception/hmi
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- - label: TTC
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- topics:
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- - /camera_image
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- - /cam_res
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- - /fusion/vis/velocity
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- - /cicv/lidartracking_moving_objects
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- - /cicv_location
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- - /cicv/lidarfusionmovingobject
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- - /cicv/lidardeeplearning_moving_objects
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- - /cicv/lidarcluster_moving_objects
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- - /cam_objects
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- - /f_radar_objects
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- - /fusion/vis/box
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- - /cicv_amr_trajectory
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- - /map_polygon
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- - /reference_trajectory
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- - /tprouteplan
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- - /jinlong_control_pub
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- - /vehicle_info
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- - /tftrafficlight
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- - /cicv_location_JL
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- - /jinlong_flag_pub
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- - /car_wheel
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- - /nodefault_info
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- - /AutoModeStatus
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- - /heartbeat_info
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- - /data_read
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- - /ch128x1/lslidar_main
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- - /ch64_mid/lslidar_mid
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- - /ch64_right/lslidar_right
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- - /ch64_left/lslidar_left
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- - /roi/points
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- - /roi/polygon
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- - /unground_cloudpoints
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- - /points_concat
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- - /tpperception
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- - /tpperception/hmi
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孟令鑫