{
  "metadata": {
    "started_wall_time": 1784711675.3986046,
    "duration_sec": 30.008186054999896,
    "output_path": "/home/sunrise/yiliao_ws/test_results/reach_fail_debug_20260722_171435.json"
  },
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    "odom": "/odom",
    "goal_pose": "/goal_pose",
    "plan": "/plan",
    "cmd_vel": "/planner_cmd_vel",
    "ackermann_cmd": "/ackermann_cmd",
    "planner_status": "/hybrid_astar_status",
    "tracker_status": "/pure_pursuit_status"
  },
  "topic_endpoints": {
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        {
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      "publishers": [
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          "node_namespace": "/",
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        {
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      "publishers": [
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        "min_linear_speed": 0.06,
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  "diagnostic_hints": [
    "没有采集到 /plan；planner 可能未规划成功或采集脚本启动太晚。",
    "TF 查询失败 21 次；需要检查 map->odom 和 odom frame。",
    "采集期间没有观察到速度命令；如果正在做实车到点测试，请确认 launch 使用 enable_motion:=true，且采集的是 tracker 实际输出话题。"
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