x1_cfg.yaml

aimrt:
  plugin:
    plugins:
      - name: ros2_plugin
        path: ./libaimrt_ros2_plugin.so
        options:
          node_name: x1_rl_ctrl_node
          executor_type: MultiThreaded # SingleThreaded/StaticSingleThreaded/MultiThreaded
          executor_thread_num: 4
  log: # 日志配置
    core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
    backends:
      - type: console # 控制台
      - type: rotate_file # 文件
        options:
          path: ./log
          filename: x1_rl_ctrl.log
          max_file_size_m: 4
          max_file_num: 10
  executor: # 执行器配置
    executors:
      - name: rl_control_pub_thread # 创建一个单线程执行器
        type: simple_thread
      - name: joy_stick_pub_thread
        type: simple_thread
  channel: # 消息队列相关配置
    backends: # 消息队列后端配置
      - type: local
      - type: ros2
    pub_topics_options: # 为 publish topic 选择后端
      - topic_name: "(.*)"
        enable_backends: [local, ros2]
    sub_topics_options: # 为 subscribe topic 选择后端
      - topic_name: "(.*)"
        enable_backends: [local, ros2]
  rpc: # rpc相关配置
    backends: # rpc后端配置
      - type: local
      - type: ros2
    clients_options: # 为 client 选择后端
      - func_name: "(.*)"
        enable_backends: [local]
    servers_options: # 为 server 选择后端
      - func_name: "(.*)"
        enable_backends: [local, ros2]
  module: # 模块配置
    pkgs: # 要加载的动态库配置
      - path: ./libpkg1.so
        enable_modules:
          - JoyStickModule
          - DcuDriverModule
          - RlControlModule
    modules: # 模块
      - name: JoyStickModule
        log_lvl: INFO
        cfg_file_path: ./cfg/joy_stick_module/joy_x1.yaml
      - name: DcuDriverModule
        log_lvl: DEBUG
        cfg_file_path: ./cfg/dcu_driver_module/dcu_x1.yaml
      - name: RlControlModule
        log_lvl: INFO
        cfg_file_path: ./cfg/rl_control_module/rl_x1.yaml