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kinglong
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common
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cfg
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cloud-config-20240123.yaml

cloud-config-20240123.yaml 9.1 KB
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  1. # 全量采集topic
    2. 

  2. ---
    3. 

  3. platform:
    4. 

  4.   url-device-auth: http://139.9.199.227:30991/device/auth
    5. 

  5.   url-task-poll: http://139.9.199.227:30991/device/task/poll
    6. 

  6.   url-task: http://139.9.199.227:30991/device/task
    7. 

  7. full-collect: true
    8. 

  8. bag-number: 120
    9. 

  9. config-refresh-interval: 60
    10. 

  10. disk-usage: 90
    11. 

  11. bag-data-dir: /mnt/media/sda1/rosbag-handle/data/
    12. 

  12. bag-copy-dir: /mnt/media/sda1/rosbag-handle/copy/
    13. 

  13. triggers-dir: /mnt/media/sda1/rosbag-handle/triggers/
    14. 

  14. time-window-send-gap: 6
    15. 

  15. tcp-port: 12340
    16. 

  16. rpc-port: 12341
    17. 

  17. ros:
    18. 

  18.   master-address: 192.168.1.102:11311
    19. 

  19.   nodes:
    20. 

  20.     - /GlobalWay
    21. 

  21.     - /ObstacleInfo
    22. 

  22.     - /ObstacleInfo_zd
    23. 

  23.     - /Trajectorydisplay
    24. 

  24.     - /camera_output
    25. 

  25.     - /ch128x1/lslidar_driver_node
    26. 

  26.     - /ch64_left/lslidar_driver_node
    27. 

  27.     - /ch64_mid/lslidar_driver_node
    28. 

  28.     - /ch64_right/lslidar_driver_node
    29. 

  29.     - /dpi_map_engine
    30. 

  30.     - /front_radars_receive_node
    31. 

  31.     - /ins
    32. 

  32.     - /ins_diagnosis
    33. 

  33.     - /lidar_deeplearning
    34. 

  34.     - /lidar_fast_euclidean_cluster_detect
    35. 

  35.     - /lidar_fusion
    36. 

  36.     - /lidar_pretreatment
    37. 

  37.     - /planner_s4_gd
    38. 

  38.     - /planning_rviz
    39. 

  39.     - /planning_task_manage
    40. 

  40.     - /polygon_display
    41. 

  41.     - /r_des
    42. 

  42.     - /r_light
    43. 

  43.     - /r_loc
    44. 

  44.     - /r_location
    45. 

  45.     - /r_speed
    46. 

  46.     - /rnode
    47. 

  47.     - /rosout
    48. 

  48.     - /sensors_fusion_node
    49. 

  49.     - /stationinfo
    50. 

  50.     - /utmTOll_node
    51. 

  51. hosts:
    52. 

  52.   - name: node1
    53. 

  53.     ip: 192.168.1.102
    54. 

  54.     topics:
    55. 

  55.       - /camera_image
    56. 

  56.       - /cicv_location
    57. 

  57.       - /heartbeat_info
    58. 

  58.       - /jinlong_control_pub
    59. 

  59.       - /AutoModeStatus
    60. 

  60.       - /data_read
    61. 

  61.   - name: node2
    62. 

  62.     ip: 192.168.1.103
    63. 

  63.     topics:
    64. 

  64.       - /ch128x1/lslidar_main
    65. 

  65.       - /ch64_mid/lslidar_mid
    66. 

  66.       - /ch64_right/lslidar_right
    67. 

  67.       - /ch64_left/lslidar_left
    68. 

  68.       - /roi/points
    69. 

  69.       - /roi/polygon
    70. 

  70.       - /unground_cloudpoints
    71. 

  71.       - /cicv/lidarcluster_moving_objects
    72. 

  72.       - /tpperception
    73. 

  73.       - /tpperception/hmi
    74. 

  74.       - /points_concat
    75. 

  75. triggers:
    76. 

  76.   - label: rapidaccel
    77. 

  77.     topics:
    78. 

  78.       - /AutoModeStatus
    79. 

  79.       - /camera_fault
    80. 

  80.       - /camera_image
    81. 

  81.       - /can_data
    82. 

  82.       - /cicv_location
    83. 

  83.       - /faultinfo
    84. 

  84.       - /heartbeat_info
    85. 

  85.       - /jinlong_control_pub
    86. 

  86.       - /nodefault_info
    87. 

  87.       - /bounding_boxes_deeplearning
    88. 

  88.       - /bounding_boxes_fusion
    89. 

  89.       - /ch128x1/lslidar_main
    90. 

  90.       - /ch64_left/lslidar_left
    91. 

  91.       - /ch64_mid/lslidar_mid
    92. 

  92.       - /ch64_right/lslidar_right
    93. 

  93.       - /cicv/lidarcluster_moving_objects
    94. 

  94.       - /cicv/lidardeeplearning_moving_objects
    95. 

  95.       - /cicv/lidarfusionmovingobject
    96. 

  96.       - /cloud_clusters
    97. 

  97.       - /lidarPretreatment_Cost
    98. 

  98.       - /line_1
    99. 

  99.       - /line_2
    100. 

  100.       - /obstacle_display
    101. 

  101.       - /points_cluster
    102. 

  102.       - /points_concat
    103. 

  103.       - /polygon_lidar_objects
    104. 

  104.       - /radar/vis
    105. 

  105.       - /roi/points
    106. 

  106.       - /roi/polygon
    107. 

  107.       - /tpperception
    108. 

  108.       - /tpperception/hmi
    109. 

  109.       - /tpperception/view
    110. 

  110.       - /unground_cloudpoints
    111. 

  111.       - /vehicle_info
    112. 

  112.   - label: brake
    113. 

  113.     topics:
    114. 

  114.       - /AutoModeStatus
    115. 

  115.       - /camera_fault
    116. 

  116.       - /camera_image
    117. 

  117.       - /can_data
    118. 

  118.       - /cicv_location
    119. 

  119.       - /faultinfo
    120. 

  120.       - /heartbeat_info
    121. 

  121.       - /jinlong_control_pub
    122. 

  122.       - /nodefault_info
    123. 

  123.       - /bounding_boxes_deeplearning
    124. 

  124.       - /bounding_boxes_fusion
    125. 

  125.       - /ch128x1/lslidar_main
    126. 

  126.       - /ch64_left/lslidar_left
    127. 

  127.       - /ch64_mid/lslidar_mid
    128. 

  128.       - /ch64_right/lslidar_right
    129. 

  129.       - /cicv/lidarcluster_moving_objects
    130. 

  130.       - /cicv/lidardeeplearning_moving_objects
    131. 

  131.       - /cicv/lidarfusionmovingobject
    132. 

  132.       - /cloud_clusters
    133. 

  133.       - /lidarPretreatment_Cost
    134. 

  134.       - /line_1
    135. 

  135.       - /line_2
    136. 

  136.       - /obstacle_display
    137. 

  137.       - /points_cluster
    138. 

  138.       - /points_concat
    139. 

  139.       - /polygon_lidar_objects
    140. 

  140.       - /radar/vis
    141. 

  141.       - /roi/points
    142. 

  142.       - /roi/polygon
    143. 

  143.       - /tpperception
    144. 

  144.       - /tpperception/hmi
    145. 

  145.       - /tpperception/view
    146. 

  146.       - /unground_cloudpoints
    147. 

  147.       - /vehicle_info
    148. 

  148.   - label: EmergencyStop
    149. 

  149.     topics:
    150. 

  150.       - /AutoModeStatus
    151. 

  151.       - /camera_fault
    152. 

  152.       - /camera_image
    153. 

  153.       - /can_data
    154. 

  154.       - /cicv_location
    155. 

  155.       - /faultinfo
    156. 

  156.       - /heartbeat_info
    157. 

  157.       - /jinlong_control_pub
    158. 

  158.       - /nodefault_info
    159. 

  159.       - /bounding_boxes_deeplearning
    160. 

  160.       - /bounding_boxes_fusion
    161. 

  161.       - /ch128x1/lslidar_main
    162. 

  162.       - /ch64_left/lslidar_left
    163. 

  163.       - /ch64_mid/lslidar_mid
    164. 

  164.       - /ch64_right/lslidar_right
    165. 

  165.       - /cicv/lidarcluster_moving_objects
    166. 

  166.       - /cicv/lidardeeplearning_moving_objects
    167. 

  167.       - /cicv/lidarfusionmovingobject
    168. 

  168.       - /cloud_clusters
    169. 

  169.       - /lidarPretreatment_Cost
    170. 

  170.       - /line_1
    171. 

  171.       - /line_2
    172. 

  172.       - /obstacle_display
    173. 

  173.       - /points_cluster
    174. 

  174.       - /points_concat
    175. 

  175.       - /polygon_lidar_objects
    176. 

  176.       - /radar/vis
    177. 

  177.       - /roi/points
    178. 

  178.       - /roi/polygon
    179. 

  179.       - /tpperception
    180. 

  180.       - /tpperception/hmi
    181. 

  181.       - /tpperception/view
    182. 

  182.       - /unground_cloudpoints
    183. 

  183.       - /vehicle_info
    184. 

  184.   - label: AutoDLimit
    185. 

  185.     topics:
    186. 

  186.       - /AutoModeStatus
    187. 

  187.       - /camera_fault
    188. 

  188.       - /camera_image
    189. 

  189.       - /can_data
    190. 

  190.       - /cicv_location
    191. 

  191.       - /faultinfo
    192. 

  192.       - /heartbeat_info
    193. 

  193.       - /jinlong_control_pub
    194. 

  194.       - /nodefault_info
    195. 

  195.       - /bounding_boxes_deeplearning
    196. 

  196.       - /bounding_boxes_fusion
    197. 

  197.       - /ch128x1/lslidar_main
    198. 

  198.       - /ch64_left/lslidar_left
    199. 

  199.       - /ch64_mid/lslidar_mid
    200. 

  200.       - /ch64_right/lslidar_right
    201. 

  201.       - /cicv/lidarcluster_moving_objects
    202. 

  202.       - /cicv/lidardeeplearning_moving_objects
    203. 

  203.       - /cicv/lidarfusionmovingobject
    204. 

  204.       - /cloud_clusters
    205. 

  205.       - /lidarPretreatment_Cost
    206. 

  206.       - /line_1
    207. 

  207.       - /line_2
    208. 

  208.       - /obstacle_display
    209. 

  209.       - /points_cluster
    210. 

  210.       - /points_concat
    211. 

  211.       - /polygon_lidar_objects
    212. 

  212.       - /radar/vis
    213. 

  213.       - /roi/points
    214. 

  214.       - /roi/polygon
    215. 

  215.       - /tpperception
    216. 

  216.       - /tpperception/hmi
    217. 

  217.       - /tpperception/view
    218. 

  218.       - /unground_cloudpoints
    219. 

  219.       - /vehicle_info
    220. 

  220.   - label: lanechange
    221. 

  221.     topics:
    222. 

  222.       - /AutoModeStatus
    223. 

  223.       - /camera_fault
    224. 

  224.       - /camera_image
    225. 

  225.       - /can_data
    226. 

  226.       - /cicv_location
    227. 

  227.       - /faultinfo
    228. 

  228.       - /heartbeat_info
    229. 

  229.       - /jinlong_control_pub
    230. 

  230.       - /nodefault_info
    231. 

  231.       - /bounding_boxes_deeplearning
    232. 

  232.       - /bounding_boxes_fusion
    233. 

  233.       - /ch128x1/lslidar_main
    234. 

  234.       - /ch64_left/lslidar_left
    235. 

  235.       - /ch64_mid/lslidar_mid
    236. 

  236.       - /ch64_right/lslidar_right
    237. 

  237.       - /cicv/lidarcluster_moving_objects
    238. 

  238.       - /cicv/lidardeeplearning_moving_objects
    239. 

  239.       - /cicv/lidarfusionmovingobject
    240. 

  240.       - /cloud_clusters
    241. 

  241.       - /lidarPretreatment_Cost
    242. 

  242.       - /line_1
    243. 

  243.       - /line_2
    244. 

  244.       - /obstacle_display
    245. 

  245.       - /points_cluster
    246. 

  246.       - /points_concat
    247. 

  247.       - /polygon_lidar_objects
    248. 

  248.       - /radar/vis
    249. 

  249.       - /roi/points
    250. 

  250.       - /roi/polygon
    251. 

  251.       - /tpperception
    252. 

  252.       - /tpperception/hmi
    253. 

  253.       - /tpperception/view
    254. 

  254.       - /unground_cloudpoints
    255. 

  255.       - /vehicle_info
    256. 

  256.   - label: brakefault
    257. 

  257.     topics:
    258. 

  258.       - /AutoModeStatus
    259. 

  259.       - /camera_fault
    260. 

  260.       - /camera_image
    261. 

  261.       - /can_data
    262. 

  262.       - /cicv_location
    263. 

  263.       - /faultinfo
    264. 

  264.       - /heartbeat_info
    265. 

  265.       - /jinlong_control_pub
    266. 

  266.       - /nodefault_info
    267. 

  267.       - /bounding_boxes_deeplearning
    268. 

  268.       - /bounding_boxes_fusion
    269. 

  269.       - /ch128x1/lslidar_main
    270. 

  270.       - /ch64_left/lslidar_left
    271. 

  271.       - /ch64_mid/lslidar_mid
    272. 

  272.       - /ch64_right/lslidar_right
    273. 

  273.       - /cicv/lidarcluster_moving_objects
    274. 

  274.       - /cicv/lidardeeplearning_moving_objects
    275. 

  275.       - /cicv/lidarfusionmovingobject
    276. 

  276.       - /cloud_clusters
    277. 

  277.       - /lidarPretreatment_Cost
    278. 

  278.       - /line_1
    279. 

  279.       - /line_2
    280. 

  280.       - /obstacle_display
    281. 

  281.       - /points_cluster
    282. 

  282.       - /points_concat
    283. 

  283.       - /polygon_lidar_objects
    284. 

  284.       - /radar/vis
    285. 

  285.       - /roi/points
    286. 

  286.       - /roi/polygon
    287. 

  287.       - /tpperception
    288. 

  288.       - /tpperception/hmi
    289. 

  289.       - /tpperception/view
    290. 

  290.       - /unground_cloudpoints
    291. 

  291.       - /vehicle_info
    292. 

  292.   - label: takeover
    293. 

  293.     topics:
    294. 

  294.       - /AutoModeStatus
    295. 

  295.       - /camera_fault
    296. 

  296.       - /camera_image
    297. 

  297.       - /can_data
    298. 

  298.       - /cicv_location
    299. 

  299.       - /faultinfo
    300. 

  300.       - /heartbeat_info
    301. 

  301.       - /jinlong_control_pub
    302. 

  302.       - /nodefault_info
    303. 

  303.       - /bounding_boxes_deeplearning
    304. 

  304.       - /bounding_boxes_fusion
    305. 

  305.       - /ch128x1/lslidar_main
    306. 

  306.       - /ch64_left/lslidar_left
    307. 

  307.       - /ch64_mid/lslidar_mid
    308. 

  308.       - /ch64_right/lslidar_right
    309. 

  309.       - /cicv/lidarcluster_moving_objects
    310. 

  310.       - /cicv/lidardeeplearning_moving_objects
    311. 

  311.       - /cicv/lidarfusionmovingobject
    312. 

  312.       - /cloud_clusters
    313. 

  313.       - /lidarPretreatment_Cost
    314. 

  314.       - /line_1
    315. 

  315.       - /line_2
    316. 

  316.       - /obstacle_display
    317. 

  317.       - /points_cluster
    318. 

  318.       - /points_concat
    319. 

  319.       - /polygon_lidar_objects
    320. 

  320.       - /radar/vis
    321. 

  321.       - /roi/points
    322. 

  322.       - /roi/polygon
    323. 

  323.       - /tpperception
    324. 

  324.       - /tpperception/hmi
    325. 

  325.       - /tpperception/view
    326. 

  326.       - /unground_cloudpoints
    327. 

  327.       - /vehicle_info
    328. 

  328.   - label: TTC
    329. 

  329.     topics:
    330. 

  330.       - /AutoModeStatus
    331. 

  331.       - /camera_fault
    332. 

  332.       - /camera_image
    333. 

  333.       - /can_data
    334. 

  334.       - /cicv_location
    335. 

  335.       - /faultinfo
    336. 

  336.       - /heartbeat_info
    337. 

  337.       - /jinlong_control_pub
    338. 

  338.       - /nodefault_info
    339. 

  339.       - /bounding_boxes_deeplearning
    340. 

  340.       - /bounding_boxes_fusion
    341. 

  341.       - /ch128x1/lslidar_main
    342. 

  342.       - /ch64_left/lslidar_left
    343. 

  343.       - /ch64_mid/lslidar_mid
    344. 

  344.       - /ch64_right/lslidar_right
    345. 

  345.       - /cicv/lidarcluster_moving_objects
    346. 

  346.       - /cicv/lidardeeplearning_moving_objects
    347. 

  347.       - /cicv/lidarfusionmovingobject
    348. 

  348.       - /cloud_clusters
    349. 

  349.       - /lidarPretreatment_Cost
    350. 

  350.       - /line_1
    351. 

  351.       - /line_2
    352. 

  352.       - /obstacle_display
    353. 

  353.       - /points_cluster
    354. 

  354.       - /points_concat
    355. 

  355.       - /polygon_lidar_objects
    356. 

  356.       - /radar/vis
    357. 

  357.       - /roi/points
    358. 

  358.       - /roi/polygon
    359. 

  359.       - /tpperception
    360. 

  360.       - /tpperception/hmi
    361. 

  361.       - /tpperception/view
    362. 

  362.       - /unground_cloudpoints
    363. 

  363.       - /vehicle_info
    364.