hal_io:

  # I/O main loop publish rate in Hz
  update_rate: 10

  # Pin definitions
  #
  # output_pins: are read from a topic (default) or service

  # HAL pins are named hal_io.<pin_name>

  # valid keys for all pins:
  #   hal_type:  BIT, FLOAT, S32, U32

  publish_pins:
    # publish_pins values from HAL pin published to ROS topic
    # valid keys:
    #   hal_dir:  IN (default), IO
    #   pub_topic:  (any valid ROS topic name, default /hal_io/<pin_name>)
    digital_in_1:
      hal_type: BIT
    digital_in_2:
      hal_type: BIT
    digital_in_3:
      hal_type: BIT
    digital_in_4:
      hal_type: BIT
    state_fb:
      hal_type: S32
  subscribe_pins:
    # subscribe_pins values from ROS topic copied to HAL output pin
    # valid keys:
    #   hal_dir:  OUT (default), IO
    #   sub_topic:  (any valid ROS topic name, default /hal_io/<pin_name>)
    digital_out_1:
      hal_type: BIT
    digital_out_2:
      hal_type: BIT
    digital_out_3:
      hal_type: BIT
    digital_out_4:
      hal_type: BIT
    zero_all_joints:
      hal_type: BIT
      hal_dir: IO
    state_cmd:
      hal_type: U32
      hal_dir: IO
    reset:
      hal_type: BIT
      hal_dir: IO
# service_pins:
    # service_pins values from ROS service copied to HAL output pin
    #   and published topic
    # valid keys:
    #   hal_dir:  OUT (default), IO
    #   service_name:  (any valid ROS service name, default /hal_io/<pin_name>)
    #   pub_topic:  (any valid ROS topic name, default /hal_io/<pin_name>)