echo_plugin

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Reference example:

• echo_plugin

Plugin Overview

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

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 to 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”	format for echoed messages; ros2 supports “json”, “yaml”, pb supports only “json”

Simple Example Configuration for Echoing Messages

For the format of echoed messages, ros2 message types support “json”, “yaml”, while pb supports only “json”.

Below is a simple example configuration for a pb message type with echoed message format set to 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:
    # ...

Below is a simple example configuration for a ros2 message type with echoed message format set to 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:
    # ...