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