publish_data_to_ros_topics.yaml

#Publish data to ros configuration yaml  
stream:
  streamers:
    - streamer:
        tag: str_gnss_rov
        type: serial
        port: ttyUSB0
        baudrate: 921600
    - streamer:
        tag: str_gnss_ref
        type: ntrip-client
        ip: 101.132.190.162
        port: 8001
        username: ...
        passward: ...
        mountpoint: Channel_1
    - streamer:
        tag: str_camera
        type: tcp-client
        ip: ...
        port: ...
        buffer_length: 361472  # 752 * 480 + 512
    - streamer:
        tag: str_ros_gnss_rov
        input_tags: [str_ros_gnss_rov]
        type: ros
        topic_name: gnss_rover
        queue_size: 3
        io: log
        format: gnss_raw
        enable_observation: true
    - streamer:
        tag: str_ros_gnss_ref
        input_tags: [str_ros_gnss_ref]
        type: ros
        topic_name: gnss_reference
        queue_size: 3
        io: log
        format: gnss_raw
        enable_observation: true
        enable_ephemeris: true
        enable_antenna_position: true
        enable_ionosphere_parameter: true
    - streamer:
        tag: str_ros_camera
        input_tags: [str_ros_camera]
        type: ros
        topic_name: image_raw
        queue_size: 10
        io: log
        format: image

  formators:
    - formator:
        io: input
        tag: str_ros_gnss_rov
        type: gnss-raw
        sub_type: tersus
    - formator:
        io: input
        tag: str_ros_gnss_ref
        type: gnss-rtcm-3

  replay:
    enable: false

estimate:


logging:
  enable: true
  min_log_level: 1
  log_to_stderr: true
  file_directory: <log-directory>