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@@ -17,51 +17,27 @@ 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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+ - /planner_s4
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+ - /cam_node
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+ - /map_engine_node
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+ - /line2polygon
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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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+ - /sensorfusion
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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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- - /cicv_location
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- - /heartbeat_info
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- - /data_read
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+ - /camera_image # /camera_output
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+ - /cicv_location # /ins
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+ - /heartbeat_info # /planner_s4、/cam_node、/map_engine_node、/camera_output、/ins、/line2polygon
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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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- - /points_concat
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- - /tpperception
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- - /tpperception/hmi
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+ - /points_concat # /lidar_pretreatment
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+ - /tpperception # /sensorfusion
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triggers:
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- label: rapidaccel
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topics:
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孟令鑫