Revision history [back]

Hello Community

thank you to ljaniec's support. I found an easiest way to transport my data from non ros program to ros via mqtt without using rospy_message_converter. The message type in rospy_message_converter is very sensitive and hard to convert a complex json file. In another way, the file can be transferred with mqtt function:

1. In MQTT Publisher

   Create the dictionary (python) and convert to json, then send to the mqtt broker

2. In MQTT Subscriber

   Convert back the json to dictionary. Instead of using the message library from ros (e.g std_msgs, geometry_msgs) you create your own message file like the json structure you sent. Last initialize the ros message equal the dictionary value and publish it to a topic.