ROS mqtt_bridge client for `msgpack` packed payloads

ROS_mqtt_bridge_client.py

# Author: Teshan Liyanage <[email protected]>

# Original mqtt client code from https://www.eclipse.org/paho/clients/python/docs/

import paho.mqtt.client as mqtt
import logging
import msgpack

logging.basicConfig()
log = logging.getLogger(__name__)
log.setLevel(logging.DEBUG)

def on_connect(client, userdata, flags, rc):
    print("Connected with result code "+str(rc))
    client.subscribe("ping")

def on_message(client, userdata, msg):
    try:
        print(msg.topic+" "+str(msg.payload))
    except UnicodeDecodeError:
        print(msg.topic+" "+str(msgpack.loads(msg.payload)))

client = mqtt.Client("", True, None, mqtt.MQTTv31)

client.on_connect = on_connect
client.on_message = on_message

client.enable_logger(log)

client.connect("127.0.0.1", 1883, 60)

client.loop_forever()