Aggiunta parametrizzazione topic mqtt e nomi dei nodi ros

2019-11-05 15:49:12 +01:00
parent 6b1012348c
commit 187c3ed9fc
7 changed files with 95 additions and 25 deletions
--- a/com/roboglue_com.cpp
+++ b/com/roboglue_com.cpp
@@ -35,8 +35,12 @@ void RoboGlue_COM::run() {
    client->set_callback(*callback);
    client->connect()->wait();
    // subscrbe to mqtt topics
-    for (auto it=m->comSettings.subMap.begin(); it != m->comSettings.subMap.end(); ++it){
-        client->subscribe(it->second,0);
+    try{
+        for (auto it=m->comSettings.subMap.begin(); it != m->comSettings.subMap.end(); ++it){
+            client->subscribe(it->second,0);
+        }
+    } catch (mqtt::exception &e) {
+        modlog->error("MQTT Error {}", e.what());
    }
    client->start_consuming();