# Copyright (c) 2023, AgiBot Inc.
# All rights reserved.

aimrt:
  plugin:
    plugins:
      - name: iceoryx_plugin
        path: ./libaimrt_iceoryx_plugin.so
  log:
    core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
    backends:
      - type: console
  executor:
    executors:
      - name: work_thread_pool
        type: asio_thread
        options:
          thread_num: 2
  channel:
    backends:
      - type: iceoryx
    pub_topics_options:
      - topic_name: "(.*)"
        enable_backends: [iceoryx]
  module:
    pkgs:
      - path: ./libros2_chn_pub_pkg.so
        enable_modules: [NormalPublisherModule]
    modules:
      - name: NormalPublisherModule
        log_lvl: INFO

# Module custom configuration
NormalPublisherModule:
  topic_name: test_topic
  channel_frq: 0.5
