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

aimrt:
  plugin:
    plugins:
      - name: ros2_plugin
        path: ${AIMRT_PLUGIN_DIR}/libaimrt_ros2_plugin.so
        options:
          node_name: example_ros2_chn_py_subscriber_node
          executor_type: MultiThreaded # SingleThreaded/StaticSingleThreaded/MultiThreaded
          executor_thread_num: 2
  log:
    core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
    default_module_lvl: INFO
    backends:
      - type: console
  channel:
    backends:
      - type: ros2
    sub_topics_options:
      - topic_name: "(.*)"
        enable_backends: [ros2]
  module:
    modules:
      - name: NormalSubscriberPyModule
        log_lvl: INFO

NormalSubscriberPyModule:
  topic_name: test_topic
