example

example/brsoa_system_config.lua

@@ -0,0 +1,82 @@
+-- brsoa_system_config.lua
+-- Global configuration
+global_config = {
+    max_nodes = 50,
+    discovery_method = "broadcast",
+    system_name = "example_system",
+    log_level = "debug"
+}
+
+-- Define nodes to be launched
+nodes = {
+    {
+        name = "example_node_cpp",
+        package = "example_package_cpp",
+        executable = "example_driver_cpp",
+        language = "cpp",
+        args = {"--fps=30"},
+        env = {SENSOR_TYPE = "lidar"}
+    },
+    {
+        name = "example_node_py",
+        package = "example_package_py",
+        executable = "example_package_py.py",
+        language = "python",
+        args = {"--algorithm=detection"},
+        env = {PYTHONPATH = "${WORKSPACE}/lib:${WORKSPACE}/include"}
+    },
+    {
+        name = "example_node_java",
+        package = "example_ui_package_java",
+        executable = "ExampleDisplayAppJava",
+        language = "java",
+        args = {"--resolution=720p"},
+        env = {JAVA_OPTS = "-Xmx1g"}
+    },
+    {
+        name = "example_node_rust",
+        package = "example_package_rust",
+        executable = "example_package_rust",
+        language = "rust",
+        args = {"--mode=manual"},
+        env = {RUST_BACKTRACE = "1"}
+    },
+    {
+        name = "example_node_bridge_go",
+        package = "example_package_go",
+        executable = "example_package_go",
+        language = "go",
+        args = {"--port=9090"},
+        env = {GOMAXPROCS = "2"}
+    }
+}
+
+-- Define communication setup
+topics = {
+    {
+        name = "/example/example",
+        type = "Example",
+        queue_size = 5,
+        publishers = {"example_node"},
+        subscribers = {"example1", "example2"}
+    }
+}
+
+-- Define services
+services = {
+    {
+        name = "/example/example",
+        type = "Example",
+        server = "example_server",
+        clients = {"example_client"}
+    }
+}
+
+-- Define parameters
+parameters = {
+    {
+        name = "/example/example",
+        type = "string",
+        value = global_config.system_name
+    }
+}