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- # 全量采集topic
- ---
- 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/rosbag-handle/data/
- bag-copy-dir: /mnt/media/sda1/rosbag-handle/copy/
- triggers-dir: /mnt/media/sda1/rosbag-handle/triggers/
- time-window-send-gap: 6
- tcp-port: 12340
- rpc-port: 12341
- ros:
- master-address: 192.168.1.102:11311
- nodes:
- - /GlobalWay
- - /ObstacleInfo
- - /ObstacleInfo_zd
- - /Trajectorydisplay
- - /camera_output
- - /ch128x1/lslidar_driver_node
- - /ch64_left/lslidar_driver_node
- - /ch64_mid/lslidar_driver_node
- - /ch64_right/lslidar_driver_node
- - /dpi_map_engine
- - /front_radars_receive_node
- - /ins
- - /ins_diagnosis
- - /lidar_deeplearning
- - /lidar_fast_euclidean_cluster_detect
- - /lidar_fusion
- - /lidar_pretreatment
- - /planner_s4_gd
- - /planning_rviz
- - /planning_task_manage
- - /polygon_display
- - /r_des
- - /r_light
- - /r_loc
- - /r_location
- - /r_speed
- - /rnode
- - /rosout
- - /sensors_fusion_node
- - /stationinfo
- - /utmTOll_node
- hosts:
- - name: node1
- ip: 192.168.1.102
- topics:
- - /camera_image
- - /cam_res
- - /fusion/vis/velocity
- - /cicv/lidartracking_moving_objects
- - /cicv_location
- - /cicv/lidarfusionmovingobject
- - /cicv/lidardeeplearning_moving_objects
- - /cicv/lidarcluster_moving_objects
- - /cam_objects
- - /f_radar_objects
- - /fusion/vis/box
- - /cicv_amr_trajectory
- - /map_polygon
- - /reference_trajectory
- - /tprouteplan
- - /jinlong_control_pub
- - /vehicle_info
- - /tftrafficlight
- - /cicv_location_JL
- - /jinlong_flag_pub
- - /car_wheel
- - /nodefault_info
- - /AutoModeStatus
- - /heartbeat_info
- - /data_read
- - name: node2
- ip: 192.168.1.103
- topics:
- - /ch128x1/lslidar_main
- - /ch64_mid/lslidar_mid
- - /ch64_right/lslidar_right
- - /ch64_left/lslidar_left
- - /roi/points
- - /roi/polygon
- - /unground_cloudpoints
- - /points_concat
- - /tpperception
- - /tpperception/hmi
- -
- triggers:
- - label: rapidaccel
- topics:
- - /camera_image
- - /cam_res
- - /fusion/vis/velocity
- - /cicv/lidartracking_moving_objects
- - /cicv_location
- - /cicv/lidarfusionmovingobject
- - /cicv/lidardeeplearning_moving_objects
- - /cicv/lidarcluster_moving_objects
- - /cam_objects
- - /f_radar_objects
- - /fusion/vis/box
- - /cicv_amr_trajectory
- - /map_polygon
- - /reference_trajectory
- - /tprouteplan
- - /jinlong_control_pub
- - /vehicle_info
- - /tftrafficlight
- - /cicv_location_JL
- - /jinlong_flag_pub
- - /car_wheel
- - /nodefault_info
- - /AutoModeStatus
- - /heartbeat_info
- - /data_read
- - /ch128x1/lslidar_main
- - /ch64_mid/lslidar_mid
- - /ch64_right/lslidar_right
- - /ch64_left/lslidar_left
- - /roi/points
- - /roi/polygon
- - /unground_cloudpoints
- - /points_concat
- - /tpperception
- - /tpperception/hmi
- - label: brake
- topics:
- - /camera_image
- - /cam_res
- - /fusion/vis/velocity
- - /cicv/lidartracking_moving_objects
- - /cicv_location
- - /cicv/lidarfusionmovingobject
- - /cicv/lidardeeplearning_moving_objects
- - /cicv/lidarcluster_moving_objects
- - /cam_objects
- - /f_radar_objects
- - /fusion/vis/box
- - /cicv_amr_trajectory
- - /map_polygon
- - /reference_trajectory
- - /tprouteplan
- - /jinlong_control_pub
- - /vehicle_info
- - /tftrafficlight
- - /cicv_location_JL
- - /jinlong_flag_pub
- - /car_wheel
- - /nodefault_info
- - /AutoModeStatus
- - /heartbeat_info
- - /data_read
- - /ch128x1/lslidar_main
- - /ch64_mid/lslidar_mid
- - /ch64_right/lslidar_right
- - /ch64_left/lslidar_left
- - /roi/points
- - /roi/polygon
- - /unground_cloudpoints
- - /points_concat
- - /tpperception
- - /tpperception/hmi
- - label: EmergencyStop
- topics:
- - /camera_image
- - /cam_res
- - /fusion/vis/velocity
- - /cicv/lidartracking_moving_objects
- - /cicv_location
- - /cicv/lidarfusionmovingobject
- - /cicv/lidardeeplearning_moving_objects
- - /cicv/lidarcluster_moving_objects
- - /cam_objects
- - /f_radar_objects
- - /fusion/vis/box
- - /cicv_amr_trajectory
- - /map_polygon
- - /reference_trajectory
- - /tprouteplan
- - /jinlong_control_pub
- - /vehicle_info
- - /tftrafficlight
- - /cicv_location_JL
- - /jinlong_flag_pub
- - /car_wheel
- - /nodefault_info
- - /AutoModeStatus
- - /heartbeat_info
- - /data_read
- - /ch128x1/lslidar_main
- - /ch64_mid/lslidar_mid
- - /ch64_right/lslidar_right
- - /ch64_left/lslidar_left
- - /roi/points
- - /roi/polygon
- - /unground_cloudpoints
- - /points_concat
- - /tpperception
- - /tpperception/hmi
- - label: AutoDLimit
- topics:
- - /camera_image
- - /cam_res
- - /fusion/vis/velocity
- - /cicv/lidartracking_moving_objects
- - /cicv_location
- - /cicv/lidarfusionmovingobject
- - /cicv/lidardeeplearning_moving_objects
- - /cicv/lidarcluster_moving_objects
- - /cam_objects
- - /f_radar_objects
- - /fusion/vis/box
- - /cicv_amr_trajectory
- - /map_polygon
- - /reference_trajectory
- - /tprouteplan
- - /jinlong_control_pub
- - /vehicle_info
- - /tftrafficlight
- - /cicv_location_JL
- - /jinlong_flag_pub
- - /car_wheel
- - /nodefault_info
- - /AutoModeStatus
- - /heartbeat_info
- - /data_read
- - /ch128x1/lslidar_main
- - /ch64_mid/lslidar_mid
- - /ch64_right/lslidar_right
- - /ch64_left/lslidar_left
- - /roi/points
- - /roi/polygon
- - /unground_cloudpoints
- - /points_concat
- - /tpperception
- - /tpperception/hmi
- - label: lanechange
- topics:
- - /camera_image
- - /cam_res
- - /fusion/vis/velocity
- - /cicv/lidartracking_moving_objects
- - /cicv_location
- - /cicv/lidarfusionmovingobject
- - /cicv/lidardeeplearning_moving_objects
- - /cicv/lidarcluster_moving_objects
- - /cam_objects
- - /f_radar_objects
- - /fusion/vis/box
- - /cicv_amr_trajectory
- - /map_polygon
- - /reference_trajectory
- - /tprouteplan
- - /jinlong_control_pub
- - /vehicle_info
- - /tftrafficlight
- - /cicv_location_JL
- - /jinlong_flag_pub
- - /car_wheel
- - /nodefault_info
- - /AutoModeStatus
- - /heartbeat_info
- - /data_read
- - /ch128x1/lslidar_main
- - /ch64_mid/lslidar_mid
- - /ch64_right/lslidar_right
- - /ch64_left/lslidar_left
- - /roi/points
- - /roi/polygon
- - /unground_cloudpoints
- - /points_concat
- - /tpperception
- - /tpperception/hmi
- - label: brakefault
- topics:
- - /camera_image
- - /cam_res
- - /fusion/vis/velocity
- - /cicv/lidartracking_moving_objects
- - /cicv_location
- - /cicv/lidarfusionmovingobject
- - /cicv/lidardeeplearning_moving_objects
- - /cicv/lidarcluster_moving_objects
- - /cam_objects
- - /f_radar_objects
- - /fusion/vis/box
- - /cicv_amr_trajectory
- - /map_polygon
- - /reference_trajectory
- - /tprouteplan
- - /jinlong_control_pub
- - /vehicle_info
- - /tftrafficlight
- - /cicv_location_JL
- - /jinlong_flag_pub
- - /car_wheel
- - /nodefault_info
- - /AutoModeStatus
- - /heartbeat_info
- - /data_read
- - /ch128x1/lslidar_main
- - /ch64_mid/lslidar_mid
- - /ch64_right/lslidar_right
- - /ch64_left/lslidar_left
- - /roi/points
- - /roi/polygon
- - /unground_cloudpoints
- - /points_concat
- - /tpperception
- - /tpperception/hmi
- - label: takeover
- topics:
- - /camera_image
- - /cam_res
- - /fusion/vis/velocity
- - /cicv/lidartracking_moving_objects
- - /cicv_location
- - /cicv/lidarfusionmovingobject
- - /cicv/lidardeeplearning_moving_objects
- - /cicv/lidarcluster_moving_objects
- - /cam_objects
- - /f_radar_objects
- - /fusion/vis/box
- - /cicv_amr_trajectory
- - /map_polygon
- - /reference_trajectory
- - /tprouteplan
- - /jinlong_control_pub
- - /vehicle_info
- - /tftrafficlight
- - /cicv_location_JL
- - /jinlong_flag_pub
- - /car_wheel
- - /nodefault_info
- - /AutoModeStatus
- - /heartbeat_info
- - /data_read
- - /ch128x1/lslidar_main
- - /ch64_mid/lslidar_mid
- - /ch64_right/lslidar_right
- - /ch64_left/lslidar_left
- - /roi/points
- - /roi/polygon
- - /unground_cloudpoints
- - /points_concat
- - /tpperception
- - /tpperception/hmi
- - label: TTC
- topics:
- - /camera_image
- - /cam_res
- - /fusion/vis/velocity
- - /cicv/lidartracking_moving_objects
- - /cicv_location
- - /cicv/lidarfusionmovingobject
- - /cicv/lidardeeplearning_moving_objects
- - /cicv/lidarcluster_moving_objects
- - /cam_objects
- - /f_radar_objects
- - /fusion/vis/box
- - /cicv_amr_trajectory
- - /map_polygon
- - /reference_trajectory
- - /tprouteplan
- - /jinlong_control_pub
- - /vehicle_info
- - /tftrafficlight
- - /cicv_location_JL
- - /jinlong_flag_pub
- - /car_wheel
- - /nodefault_info
- - /AutoModeStatus
- - /heartbeat_info
- - /data_read
- - /ch128x1/lslidar_main
- - /ch64_mid/lslidar_mid
- - /ch64_right/lslidar_right
- - /ch64_left/lslidar_left
- - /roi/points
- - /roi/polygon
- - /unground_cloudpoints
- - /points_concat
- - /tpperception
- - /tpperception/hmi
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