diff --git a/src/mqtt_bridge/bridge.py b/src/mqtt_bridge/bridge.py index 26c4095e81f964b4e451a1c26c7d9c0a922ba93c..9f779708f85e6756615ea919fa139f04de42bf3d 100644 --- a/src/mqtt_bridge/bridge.py +++ b/src/mqtt_bridge/bridge.py @@ -94,7 +94,7 @@ class MqttToRosBridge(Bridge): self._msg_type = msg_type self._queue_size = queue_size self._last_published = rospy.get_time() - self._interval = 0 if frequency is None else 1.0 / frequency + self._interval = None if frequency is None else 1.0 / frequency self._mqtt_client.subscribe(topic_from) self._mqtt_client.message_callback_add(topic_from, self._callback_mqtt) @@ -110,7 +110,8 @@ class MqttToRosBridge(Bridge): """ rospy.logdebug("MQTT received from {}".format(mqtt_msg.topic)) now = rospy.get_time() - if now - self._last_published >= self._interval: + + if self._interval is None or now - self._last_published >= self._interval: ros_msg = self._create_ros_message(mqtt_msg) self._publisher.publish(ros_msg) self._last_published = now