---
platform:
  url-device-auth: http://139.9.199.227:30991/device/auth
  url-task-poll: http://139.9.199.227:30991/device/task/poll
  url-task: http://139.9.199.227:30991/device/task
full-collect: false
bag-number: 10
config-refresh-interval: 60
disk-usage: 90
bag-data-dir: /root/rosbag-handle/data/
bag-copy-dir: /root/rosbag-handle/copy/
triggers-dir: /root/rosbag-handle/triggers/
time-window-send-gap: 6
rpc-port: 12341
ros:
  master-address: 192.168.1.104:11311
  nodes:
    - /adapters_nav
    - /amcl
    - /auto_dock
    - /camera/camera
    - /engine
    - /lidar_filter_bz
    - /localization_monitor_node
    - /ltme_node
    - /map_merge_node
    - /mode_manage
    - /monitor
    - /move_base
    - /node_diagnostics
    - /node_map_convert
    - /node_ota
    - /pointcloud_to_laserscan
    - /robot_pose_publisher_node
    - /robot_state_publisher
    - /robot_static_node
    - /rosout
    - /scan_map_icp_amcl_node
    - /sensor_fusion_node
    - /slip_check_node
    - /srf_laser_odometry_node
    - /trii_receive

hosts:
  - name: node1
    ip: 192.168.1.104
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
#      - /diagnostics
#      - /locate_info
      - /obstacle_detection
#      - /odom
#      - /move_base/global_costmap/costmap
#      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed
triggers:
  - label: detectfault
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed
  - label: unstabledriving
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed
  - label: locationfailed
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed
  - label: obstacledetection
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed
  - label: overspeed
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed
  - label: cpuoveroccupied
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed
  - label: memoveroccupied
    topics:
      - /camera/color/image_raw
      - /camera/depth/points
      - /diagnostics
      - /locate_info
      - /obstacle_detection
      - /odom
      - /move_base/global_costmap/costmap
      - /move_base/global_costmap/costmap_updates
      - /scan_map_icp_amcl_node/scan_point_transformed