{ "metadata": { "started_wall_time": 1784711065.1046882, "duration_sec": 30.061887085999842, "output_path": "/home/sunrise/yiliao_ws/test_results/reach_fail_debug_20260722_170425.json" }, "topics": { "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": { "/odom": { "publisher_count": 1, "subscriber_count": 4, "publishers": [ { "node_name": "origincar_base", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" } ], "subscribers": [ { "node_name": "goal_reach_debug_collector", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" }, { "node_name": "planner_odom_map_tf", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" }, { "node_name": "grid_astar_theta_planner", "node_namespace": "/", "topic_type": "nav_msgs/msg/Odometry" }, { "node_name": "topology_pure_pursuit", "node_namespace": 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