diff --git a/ros2rag.base/src/main/resources/MqttUpdater.jadd b/ros2rag.base/src/main/resources/MqttUpdater.jadd index 394735cc78595ad0ebe15b5ab1fa6e73ef435b13..df1dc10054722b249c10637781bc896eebdaf37f 100644 --- a/ros2rag.base/src/main/resources/MqttUpdater.jadd +++ b/ros2rag.base/src/main/resources/MqttUpdater.jadd @@ -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); diff --git a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java index 8c8919d739552e30cad512e8e5cd9bfb1ff832f0..a4a0f70c9058be997142bb286aa33b4e8c5b1897 100644 --- a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java +++ b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java @@ -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) {