From 7c6922815115b225084cea65a7ad8df63575be11 Mon Sep 17 00:00:00 2001 From: tony19990828 <58881058+tony19990828@users.noreply.github.com> Date: Thu, 24 Feb 2022 15:33:45 +0800 Subject: [PATCH] Update local_mqtt_sub_data_from_ros.py --- localRosData/local_mqtt_sub_data_from_ros.py | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/localRosData/local_mqtt_sub_data_from_ros.py b/localRosData/local_mqtt_sub_data_from_ros.py index 60c55fc..846b72a 100644 --- a/localRosData/local_mqtt_sub_data_from_ros.py +++ b/localRosData/local_mqtt_sub_data_from_ros.py @@ -13,7 +13,7 @@ from sensor_msgs.msg import Imu from sensor_msgs.msg import Range from geometry_msgs.msg import Vector3 -mqtt_config = {"host": "192.168.0.48", "port": 1883, "topic": "data/pub"} +mqtt_config = {"host": "192.168.100.157", "port": 1883, "topic": "data/pub"} data ={} # Ros def callBack_imu(IMU): @@ -28,27 +28,30 @@ def callBack_imu(IMU): dataImuUpdate = {"gyro_x": gyro_x, "gyro_y": gyro_y,"gyro_z":gyro_z, "accel_x": accel_x, "accel_y": accel_y, "accel_z": accel_z} data.update(dataImuUpdate) + # print ('gyro_x:'+gyro_x+'\n'+'gyro_y:'+gyro_y+'\n'+'gyro_z:'+gyro_z +'\n') # print ('accel_x:'+accel_x+'\n'+'accel_y:'+accel_y+'\n'+'accel_z:'+accel_z +'\n') def callBack_gps(GPS): - lat=str(GPS.latitude) lon=str(GPS.longitude) dataGpsUpdate = {"lat": GPS.latitude, "lon": GPS.longitude} data.update(dataGpsUpdate) + toJson(data) # print ('lat:'+lat+'\n'+'lon:'+lon+'\n') - def callBack_rng(RNG): dataRngUpdate = {"range": RNG.range} data.update(dataRngUpdate) dataJsonFormate = json.dumps(data) # print ('range:'+range+'\n') + + +def toJson(data): + dataJsonFormate = json.dumps(data) print (dataJsonFormate) mqtt_Pub(message=dataJsonFormate) - # MQTT def initialise_clients(clientname): # callback assignment @@ -87,8 +90,7 @@ if __name__ == '__main__': nodeName = 'save_data_py' rospy.init_node(nodeName) # topicName = 'data_topic' - subscriber = rospy.Subscriber('/mavros/imu/data_raw',Imu,callBack_imu) #從topic獲取string再呼叫callback - subscriber = rospy.Subscriber('/mavros/global_position/global',NavSatFix,callBack_gps) #從topic獲取string再呼叫callback - subscriber = rospy.Subscriber('/mavros/rangefinder/rangefinder',Range,callBack_rng) #從topic獲取string再呼叫callback - + subscriber1 = rospy.Subscriber('/mavros/imu/data_raw',Imu,callBack_imu) #從topic獲取string再呼叫callback + subscriber2 = rospy.Subscriber('/mavros/global_position/global',NavSatFix,callBack_gps) #從topic獲取string再呼叫callback + subscriber3 = rospy.Subscriber('/mavros/rangefinder/rangefinder',Range,callBack_rng) #從topic獲取string再呼叫callback rospy.spin()