{
  "metadata": {
    "started_wall_time": 1784711065.1046882,
    "duration_sec": 30.061887085999842,
    "output_path": "/home/sunrise/yiliao_ws/test_results/reach_fail_debug_20260722_170425.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"
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  "topic_endpoints": {
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      "node": "/grid_astar_theta_planner",
      "service": "/grid_astar_theta_planner/get_parameters",
      "error": "parameter_service_unavailable"
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    "tracker": {
      "node": "/topology_pure_pursuit",
      "service": "/topology_pure_pursuit/get_parameters",
      "error": "parameter_service_unavailable"
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    "tracker_status_count": 17,
    "min_distance_to_goal": 2.1213203435596424,
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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 65 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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