Rename internet/internet_mqtt_sub_ros.py to Stream/internet/internet_mqtt_sub_ros.py

Stream/internet/internet_mqtt_sub_ros.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+#coding:utf-8
+# license removed for brevity
+import ssl
+import rospy
+from std_msgs.msg import String
+import paho.mqtt.client as mqtt
+import json
+
+mqtt_config = {"host": "192.168.0.48", "port": 1883, "topic": "data/pub"}
+# Ros
+def ros_pub(dataJson):
+    global publisher, rate
+    # data = json.loads(dataJson)
+    publisher.publish(dataJson)     #將date字串發布到topic
+    rate.sleep()
+    # print(f"publish data {data}")
+
+
+# MQTT
+def initialise_clients(clientname):
+    # callback assignment
+    initialise_client = mqtt.Client(clientname, False) 
+    initialise_client.topic_ack = []
+    return initialise_client
+
+def on_connect(client, userdata, flags, rc):
+    print("Connected with result code " + str(rc))
+    client.subscribe(mqtt_config["topic"])
+
+
+def on_message(client, userdata, msg):
+    print(msg.payload.decode('utf-8'))
+    ros_pub(msg.payload.decode('utf-8'))
+
+if __name__ == '__main__':
+    # Mqtt
+    client = initialise_clients("nano")
+    client.on_connect = on_connect
+    client.on_message = on_message
+    client.connect(mqtt_config["host"], mqtt_config["port"], 60)
+    # client.loop_start()
+
+    # Ros
+    Mqtt_Node = 'publisher_py'
+    rospy.init_node(Mqtt_Node)
+    # initialize Ros node
+    topicName = 'mqtt_msg'
+    publisher = rospy.Publisher(topicName,String,queue_size=10)
+    rate = rospy.Rate(10)
+
+    client.loop_forever()
+
+# mqtt connect code list
+# 0: Connection successful
+# 1: Connection refused – incorrect protocol version
+# 2: Connection refused – invalid client identifier
+# 3: Connection refused – server unavailable
+# 4: Connection refused – bad username or password
+# 5: Connection refused – not authorised
+# 6-255: Currently unused.