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mqttCmdMain work with ros

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Xuan0319
2023-02-10 14:37:40 +08:00
parent a1ed3a7ffd
commit 5808443273
3 changed files with 3 additions and 3 deletions
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class_model/src/mqttCmdMain.py
Regular → Executable
+1 -1
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@@ -15,7 +15,7 @@ import rospy
def init_dataFormat(cfg:Read_CMD_Config): def init_dataFormat(cfg:Read_CMD_Config):
if cfg.msg_format == "Json": if cfg.msg_format == "Json":
Json_msg_to_ros.rate = rospy.Rate(10) 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 client.on_message = Json_msg_to_ros.on_message
Json_msg_to_ros.Cmd_Broadcast_topicToMqtt = cfg.Cmd_Broadcast_topicToMqtt Json_msg_to_ros.Cmd_Broadcast_topicToMqtt = cfg.Cmd_Broadcast_topicToMqtt
elif cfg.msg_format == "Proto": elif cfg.msg_format == "Proto":
class_model/src/tower.py
+1 -1
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@@ -35,7 +35,7 @@ def on_publish(self, userdata, mid):
connect_flag = False 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 = initialise_clients(mqtt_config["name"])
client.on_publish = on_publish client.on_publish = on_publish
client.on_connect = on_connect client.on_connect = on_connect
class_model/src/utils/mqttConfig_CMD.yml
+1 -1
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@@ -1,7 +1,7 @@
MQTT: MQTT:
msg_format: Json msg_format: Json
MQTTClientNameCmd: Drone550Cmd MQTTClientNameCmd: Drone550Cmd
host: 192.168.50.118 host: 140.120.31.133
port: 1883 port: 1883
keepalive: 600 keepalive: 600
# Mqtt topic # Mqtt topic