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

aimrt:
  plugin:
    plugins:
      - name: ros2_plugin
        path: ./libaimrt_ros2_plugin.so
        options:
          node_name: example_ros2msg_echo_plugin
          executor_type: MultiThreaded # SingleThreaded/StaticSingleThreaded/MultiThreaded
          executor_thread_num: 2
      - name: echo_plugin
        path: ./libaimrt_echo_plugin.so
        options:
          type_support_pkgs:
            - path: ./libexample_event_ts_pkg.so        
          topic_meta_list:
            - topic_name: test_topic
              msg_type: ros2:example_ros2/msg/RosTestMsg    
              echo_type: yaml
  log:
    core_lvl: Info # Trace/Debug/Info
    backends:
      - type: console
  executor:
    executors:
      - name: work_thread_pool
        type: asio_thread
        options:
          thread_num: 4
  channel:
    backends:
      - type: ros2
    pub_topics_options:
      - topic_name: "(.*)"
        enable_backends: [ros2]
    sub_topics_options:
      - topic_name: "(.*)"
        enable_backends: [ros2]
  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


