From 580844327373e7f77a686e2bbd0c86dd76742b3d Mon Sep 17 00:00:00 2001 From: Xuan0319 Date: Fri, 10 Feb 2023 14:37:40 +0800 Subject: [PATCH] mqttCmdMain work with ros --- class_model/src/mqttCmdMain.py | 2 +- class_model/src/tower.py | 2 +- class_model/src/utils/mqttConfig_CMD.yml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) mode change 100644 => 100755 class_model/src/mqttCmdMain.py diff --git a/class_model/src/mqttCmdMain.py b/class_model/src/mqttCmdMain.py old mode 100644 new mode 100755 index 1421d4d..22d266b --- a/class_model/src/mqttCmdMain.py +++ b/class_model/src/mqttCmdMain.py @@ -15,7 +15,7 @@ import rospy def init_dataFormat(cfg:Read_CMD_Config): if cfg.msg_format == "Json": Json_msg_to_ros.rate = rospy.Rate(10) - Json_msg_to_ros.Cmd_Broadcast_topicToMqtt = rospy.Publisher(cfg.ROStopicName_Cmd_Broadcast_Receiver,String,queue_size=10) + Json_msg_to_ros.publisher_Cmd_Broadcast = rospy.Publisher(cfg.ROStopicName_Cmd_Broadcast_Receiver,String,queue_size=10) client.on_message = Json_msg_to_ros.on_message Json_msg_to_ros.Cmd_Broadcast_topicToMqtt = cfg.Cmd_Broadcast_topicToMqtt elif cfg.msg_format == "Proto": diff --git a/class_model/src/tower.py b/class_model/src/tower.py index e862289..254f93d 100755 --- a/class_model/src/tower.py +++ b/class_model/src/tower.py @@ -35,7 +35,7 @@ def on_publish(self, userdata, mid): connect_flag = False -mqtt_config = {"host": "192.168.50.118", "port": 1883, "topic": "cmd/broadcast", "name": "Tower"} +mqtt_config = {"host": "140.120.31.133", "port": 1883, "topic": "cmd/broadcast", "name": "Tower"} client = initialise_clients(mqtt_config["name"]) client.on_publish = on_publish client.on_connect = on_connect diff --git a/class_model/src/utils/mqttConfig_CMD.yml b/class_model/src/utils/mqttConfig_CMD.yml index 4bc2e12..7efd04c 100644 --- a/class_model/src/utils/mqttConfig_CMD.yml +++ b/class_model/src/utils/mqttConfig_CMD.yml @@ -1,7 +1,7 @@ MQTT: msg_format: Json MQTTClientNameCmd: Drone550Cmd - host: 192.168.50.118 + host: 140.120.31.133 port: 1883 keepalive: 600 # Mqtt topic