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- ---
- 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: true
- bag-number: 120
- config-refresh-interval: 60
- disk:
- name: /dev/vdb # 磁盘名称
- used: 5242880 # 磁盘占用阈值，单位bytes
- bag-data-dir: /mnt/media/sda1/cicv-data-closedloop/data/
- bag-copy-dir: /mnt/media/sda1/cicv-data-closedloop/copy/
- time-to-label-json-path: /mnt/media/sda1/cicv-data-closedloop/timeToLabel.json
- triggers-dir: /mnt/media/sda1/cicv-data-closedloop/triggers/
- time-window-send-gap: 6
- tcp-port: 12340
- rpc-port: 12341
- ros:
- master-address: 192.168.1.102:11311
- nodes:
- - /camera_output
- - /ins
- - /lidar_pretreatment
- - /sensorfusion
- - /planner_s4
- - /control
- hosts:
- - name: node1
- ip: 192.168.1.102
- topics:
- - /camera_image # /camera_output
- - /cicv_amr_trajectory # /planner_s4
- - /pj_control_pub # /control
- # - /data_read
- - name: node2
- ip: 192.168.1.103
- topics:
- - /points_concat # /lidar_pretreatment
- - /tpperception # /sensorfusion
- - /cicv_location # /ins
- triggers:
- - label: rapidaccel
- topics:
- - /tpperception
- - /points_concat
- - /cicv_location
- - /camera_image
- - label: brake
- topics:
- - /tpperception
- - /points_concat
- - /cicv_location
- - /camera_image
- - label: EmergencyStop
- topics:
- - /tpperception
- - /points_concat
- - /cicv_location
- - /camera_image
- - label: AutoDLimit
- topics:
- - /tpperception
- - /points_concat
- - /cicv_location
- - /camera_image
- - label: lanechange
- topics:
- - /tpperception
- - /points_concat
- - /cicv_location
- - /camera_image
- - label: brakefault
- topics:
- - /tpperception
- - /points_concat
- - /cicv_location
- - /camera_image
- - label: takeover
- topics:
- - /tpperception
- - /points_concat
- - /cicv_location
- - /camera_image
- - label: TTC
- topics:
- - /tpperception
- - /points_concat
- - /cicv_location
- - /camera_image
|
