WHOIGit
diff --git a/‎configs/example.yaml
+40-1 b/‎configs/example.yaml
+40-1
diff --git a/‎src/phyto_arm/launch/arm_chanos.launch
-5 b/‎src/phyto_arm/launch/arm_chanos.launch
-5
diff --git a/‎src/phyto_arm/launch/main.launch
+2 b/‎src/phyto_arm/launch/main.launch
+2
@@ -18,6 +18,45 @@ alerts:
 
 # Node-specific configuration
 
+# Network Data Capture
+# Used for capturing udp/tcp streams, e.g. during a cruise
+network_data_capture: #optional
+    stats_interval: 60 #optional. How frequently to log statistics. Default is 60 seconds.
+    print_stats: false #optional. Print to STDOUT. Default is false. Useful for debugging connections
+    topics:
+        ship_udp_example: #optional. Name of the topic to publish to
+            connection_type: "udp" # Can be "udp" or "tcp"
+            port: 44444  # Port for PhytO-ARM to listen to
+            parsing_strategy: "delimited" # Can be "json_dict", "json_array", "raw", or "delimited"
+            delimiter: ", " #optional. Only used if parsing_strategy is "delimited"
+            use_regex_delimiter: false #optional. If true, delimiter is treated as a regex pattern. Default is false.
+            subtopics: #optional. If parsing_strategy is not raw use this to parse data into subtopics
+                example_subtopic: #optional. Name of the subtopic
+                    field_id: 0 # Index of the field. Used if parsing_strategy is "json_array" or "delimited"
+                    type: "str" # Can be "str", "int", "float", "bool", "float[]", "int[]", or "bool[]"
+                second_example: #optional. Another subtopic, would have path "/ship_udp_example/second_example"
+                    field_id: 1
+                    type: "float"
+        rbr_udp_stream: #optional. Example for an RBR CTD stream proxied over UDP
+            connection_type: "udp"
+            port: 12345
+            parsing_strategy: "json_dict"
+            subtopics: #optional
+                depth: #optional. Will publish to "/rbr_udp_stream/depth"
+                    field_id: "depth" # Example of a JSON dict key. 
+                    type: "float"
+        delimited_stream_example: #optional. Example for a delimited stream
+            connection_type: "udp"
+            port: 5678
+            parsing_strategy: "delimited"
+            delimiter: ",? "
+            use_regex_delimiter: true #optional. If true, delimiter is treated as a regex pattern. Default is false.
+            subtopics: #optional
+                temperature: #optional. Will publish to "/delimited_stream_example/temperature"
+                    field_id: 0
+                    type: "float" # Note delimited fields cannot be arrays
+
+
 gps:
     host: "172.17.0.1"
 
@@ -169,7 +208,7 @@ arm_chanos: #optional
             - 5.0
             - 6.5
 
-    ctd_topic: '/arm_chanos/ctd/depth'
+    ctd_topic: '/rbr_udp_stream/depth'
     ctd:
         channels:
             - conductivity(mS/cm)
 
@@ -4,11 +4,6 @@
 
     <!-- RBR winch namespace. Important for separating similar nodes on different arms -->
     <group ns="arm_chanos">
-        <!-- proxy for publishing RBR's UDP stream as ROS topic -->
-        <node name="rbr_udp" pkg="rbr_maestro3_ctd" type="udp_to_ros.py">
-            <param name="port" type="int" value="12345" />
-        </node>
-
         <node name="ctd" pkg="rbr_maestro3_ctd" type="rbr_maestro3_node.py">
             <remap from="~in" to="udp_stream" />
         </node>
 
@@ -11,6 +11,8 @@
 
     <node name="lock_manager" pkg="phyto_arm" type="lock_manager.py" />
 
+    <node name="network_data_capture" pkg="phyto_arm" type="network_data_capture.py" required="false" />
+
     <group if="$(arg classifier)">
         <node name="classifier" pkg="triton_classifier" type="classifier_node.py" />