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

aimrt:
  plugin:
    plugins:
      - name: ros2_plugin
        path: ./libaimrt_ros2_plugin.so
        options:
          node_name: example_ros2_pb_rpc_server_node
          executor_type: MultiThreaded # SingleThreaded/StaticSingleThreaded/MultiThreaded
          executor_thread_num: 2
  log:
    core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
    backends:
      - type: console
  executor:
  rpc:
    backends:
      - type: ros2
    servers_options:
      - func_name: "(.*)"
        enable_backends: [ros2]
  module:
    pkgs:
      - path: ./libpb_rpc_server_pkg.so
        enable_modules: [NormalRpcCoServerModule]
    modules:
      - name: NormalRpcCoServerModule
        log_lvl: INFO
