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ros2rag
Commits
a966bb62
Commit
a966bb62
authored
Jun 29, 2020
by
René Schöne
Browse files
Use retain for initial robot config.
- see
#26
parent
465ddf3b
Pipeline
#7084
passed with stages
in 4 minutes and 54 seconds
Changes
2
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1
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ros2rag.base/src/main/resources/MqttUpdater.jadd
View file @
a966bb62
...
...
@@ -231,8 +231,16 @@ public class MqttUpdater {
}
public void publish(String topic, byte[] bytes) {
publish(topic, bytes, false);
}
public void publish(String topic, byte[] bytes, boolean retain) {
publish(topic, bytes, this.qos, retain);
}
public void publish(String topic, byte[] bytes, org.fusesource.mqtt.client.QoS qos, boolean retain) {
connection.getDispatchQueue().execute(() -> {
connection.publish(topic, bytes, qos,
false
, new org.fusesource.mqtt.client.Callback<Void>() {
connection.publish(topic, bytes, qos,
retain
, new org.fusesource.mqtt.client.Callback<Void>() {
@Override
public void onSuccess(Void value) {
logger.debug("Published some bytes to {}", topic);
...
...
ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
View file @
a966bb62
...
...
@@ -104,7 +104,7 @@ public class StarterMain {
.
setEnableTwistLinear
(
false
)
.
setPublishRate
(
100
)
.
build
();
mainHandler
.
publish
(
dataConfigTopic
,
dataConfig
.
toByteArray
());
mainHandler
.
publish
(
dataConfigTopic
,
dataConfig
.
toByteArray
()
,
true
);
}
private
void
logStatus
(
String
prefix
,
RobotArm
robotArm
)
{
...
...
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