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@@ -63,26 +63,23 @@ hosts:
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- "LD_LIBRARY_PATH=/opt/ros/noetic/lib:/opt/ros/noetic/lib/aarch64-linux-gnu"
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- "ROS_ROOT=/opt/ros/noetic/share/ros"
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- "ROS_DISTRO=noetic"
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- topics: # /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
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- - /robot_pose # /location_realtime
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- - /robot/realtime_cost_map_ # /cloud_to_map_node
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- - /tracking/objects # /tracking/imm_ukf_pda_track
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- - /robot/TaskInfo # /task_decision
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- - /robot/targetposition # /task_decision、/trajectorygenerator
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- - /wheel # /trii_receive
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- - /wheel_odom # /wheel_odom
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- - /robot/global_trajectory_ # /lanelet_routing_node
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- - /robot/target_trajectories # /trajectorygenerator
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- - /robot/evaluator_trajectories # /trajectoryevaluator
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- - /robot/final_trajectory # /trajectoryevaluator
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- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
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- - /cmd_vel # /purepursuit、/auto_dock、/engine
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- - /imu # /trii_receive
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- - /points_cluster # /lidar_euclidean_cluster_detect
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- - /nav/task_feedback_info # /task_decision、/purepursuit、/lanelet_routing_node、/trajectorygenerator、/trajectoryevaluator
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+ topics: # /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,/nav/task_feedback_info,/velodyne_points
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+ - /robot_pose
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+ - /robot/realtime_cost_map_
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+ - /tracking/objects
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+ - /robot/TaskInfo
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+ - /robot/targetposition
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+ - /wheel
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+ - /wheel_odom
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+ - /robot/global_trajectory_
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+ - /robot/target_trajectories
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+ - /robot/evaluator_trajectories
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+ - /robot/final_trajectory
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+ - /nav/task_feedback_info
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+ - /cmd_vel
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+ - /imu
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+ - /nav/task_feedback_info
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- /velodyne_points
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- - /image_raw
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- - /prediction/motion_predictor/objects
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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
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