From 275cd0b1f7475c48e1dd19ecbd993065e7a98f30 Mon Sep 17 00:00:00 2001
From: Shin <Tom.Cernik@gmail.com>
Date: Thu, 5 Oct 2017 16:27:34 +0200
Subject: [PATCH] fix if frequency is none

---
 src/mqtt_bridge/bridge.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/mqtt_bridge/bridge.py b/src/mqtt_bridge/bridge.py
index 26c4095..9f77970 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
-- 
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