serial drivers/modules: add yaml config files

src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt

@@ -106,6 +106,8 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
 			microRTPS_client_main.cpp
 			${msg_out_path}/micrortps_client/microRTPS_client.cpp
 			${msg_out_path}/micrortps_client/microRTPS_transport.cpp
+		MODULE_CONFIG
+			module.yaml
 		DEPENDS
 			topic_bridge_files
 	)

src/modules/micrortps_bridge/micrortps_client/module.yaml

@@ -0,0 +1,17 @@
+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
+