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@@ -69,7 +69,7 @@ hosts:
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- /locate_info # /localization_monitor_node
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- /obstacle_detection # /move_base
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- /odom # /sensor_fusion_node
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-# - /move_base/global_costmap/costmap # /move_base # 只有1帧
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+ - /move_base/global_costmap/costmap # /move_base # 只有1帧
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- /move_base/global_costmap/costmap_updates # /move_base
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- /move_base/local_costmap/costmap # /move_base
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- /move_base/local_costmap/costmap_updates # /move_base
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@@ -80,20 +80,21 @@ hosts:
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- /imu
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# 算法评价新增
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- /depth_scan_02
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-# - /map # 只有1帧
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+ - /map # 只有1帧
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- /scan_filtered
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- /sonar_left
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- /sonar_right
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- /sonar_mid
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- /sonar_rmid
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- /tf
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-# - /tf_static # 只有1帧
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+ - /tf_static # 只有1帧
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- /cmd_vel
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- /move_base/DWAPlannerROS/global_plan
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- /move_base/DWAPlannerROS/local_plan
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- /move_base/GlobalPlanner/plan
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- /move_base/global_costmap/footprint
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- /move_base/local_costmap/footprint
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+ - /robot_pose_tf
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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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