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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