DORA_NAV/run.yml at master · dora-rs/DORA_NAV · GitHub

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nodes:
  - id: imu
    custom:
      source: HWT9053modbus/build/imu_driver_node
      inputs:
        tick: dora/timer/millis/50
      outputs:
        - imu_msg

  - id: lidar
    custom:
      source: rslidar_driver/build/rslidar_driver
      inputs:
        tick: dora/timer/millis/100
      outputs:
        - pointcloud
      envs:
        ONLINE_LIDAR: 1       #   0 is pcap    1 is online lidar
        PCAP_PATH: /home/nvidia/dora_project/pcap/yewai.pcap
        LIDAR_MSOP_PORT: 6699
        LIDAR_DIFOP_PORT: 7788
        LIDAR_TYPE: RSHELIOS_16

  - id: hdl_localization
    custom:
      source: dora-hdl_localization/build/hdl_localization
      inputs:
        pointcloud: lidar/pointcloud
        imu_msg: imu/imu_msg
      outputs:
       - cur_pose
      envs:
        use_imu: 0       #  1 using imu

  - id: pub_road
    custom:
      source: map/pub_road/build/pubroad
      inputs:
        tick: dora/timer/millis/200
      outputs:
        - road_lane

  - id: road_lane_publisher_node
    custom:
      source: map/road_line_publisher/build/road_lane_publisher_node
      inputs:
        road_lane: pub_road/road_lane
        cur_pose: hdl_localization/cur_pose
      outputs:
        - cur_pose_all

  - id: task_pub_node
    custom:
      source: planning/mission_planning/task_pub/build/task_pub_node
      inputs:
        tick: dora/timer/millis/20
      outputs:
        - road_attri_msg

  - id: planning
    custom:
      source: planning/routing_planning/build/routing_planning_node
      inputs:
        road_lane: pub_road/road_lane
        cur_pose_all: road_lane_publisher_node/cur_pose_all
        road_attri_msg: task_pub_node/road_attri_msg
      outputs:
        - raw_path
        - Request

  - id: lon_control
    custom:
      source: control/vehicle_control/lon_controller/build/lon_controller_node
      inputs:
        Request: planning/Request
      outputs:
        - TrqBreCmd


  - id: latcontrol
    custom:
      source: control/vehicle_control/lat_controller/build/lat_controller_node
      inputs:
        raw_path: planning/raw_path
      outputs:
        - SteeringCmd #100hz

  - id: control
    custom:
      source: control/vehicle_control/vehicle_chassis_n3/build/vehicle_chassis_node
      inputs:
        SteeringCmd: latcontrol/SteeringCmd
        TrqBreCmd: lon_control/TrqBreCmd


  - id: rerun
    custom:
      source: rerun/build/to_rerun
      inputs:
        pointcloud: lidar/pointcloud
        raw_path: planning/raw_path
        cur_pose: hdl_localization/cur_pose