module_name: RTPS
serial_config:
    - command: |
        protocol_splitter start ${SERIAL_DEV}
        mavlink start -d /dev/mavlink -b p:${BAUD_PARAM} -m onboard -r 5000 -x
        micrortps_client start -d /dev/rtps -b p:${BAUD_PARAM} -l -1
      port_config_param:
        name: RTPS_MAV_CONFIG
        group: RTPS
      label: MAVLink + FastRTPS
    - command: |
        micrortps_client start -d ${SERIAL_DEV} -b p:${BAUD_PARAM} -l -1
      port_config_param:
        name: RTPS_CONFIG
        group: RTPS
      label: FastRTPS