echo Plugin

Related Links

Reference example:

• echo_plugin

Plugin Overview

The echo_plugin is used to echo messages in a Channel. The plugin supports independent type_support_pkg and allows specifying an executor. The log_lvl must be set to one of Trace, Debug, or Info for proper operation.

The plugin configuration items are as follows:

Node	Type	Optional	Default	Purpose
type_support_pkgs	array	Required	[]	type support package configuration
type_support_pkgs[i].path	string	Required	“”	Path of the type support package
topic_meta_list	array	Required	[]	Topics and types to echo
topic_meta_list[j].topic_name	string	Required	“”	Topic to echo
topic_meta_list[j].msg_type	string	Required	“”	Message type to echo
topic_meta_list[j].echo_type	string	Optional	“json”	Echo message format. For ROS2, supports “json” and “yaml”. For PB, only supports “json”.

Simple Example Configuration for Echo Messages

For echo message formats, ROS2 message types support “json” and “yaml”, while PB only supports “json”.

Here is a simple example configuration for PB message type with echo message format as json:

aimrt:
  plugin:
    plugins:
      - name: echo_plugin
        path: ./libaimrt_echo_plugin.so
        options:
          type_support_pkgs:
            - path: ./libexample_pb_ts.so
          topic_meta_list:
            - topic_name: test_topic
              msg_type: pb:aimrt.protocols.example.ExampleEventMsg
              echo_type: json
  log:
    core_lvl: Info # Trace/Debug/Info
    backends:
      - type: console
  channel:
    # ...

Here is a simple example configuration for ROS2 message type with echo message format as yaml:

aimrt:
  plugin:
    plugins:
      - name: echo_plugin
        path: ./libaimrt_echo_plugin.so
        options:
          type_support_pkgs:
            - path: ./libexample_ros2_ros2_ts.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
  channel:
    # ...