From 7a7d0641e24b07cf881783365037ddbfa174edd8 Mon Sep 17 00:00:00 2001 From: Tomas Cernik <Tom.Cernik@gmail.com> Date: Wed, 22 Nov 2017 17:20:56 +0100 Subject: [PATCH] bridge fixed not to fall when ros msg cannot be created --- src/mqtt_bridge/bridge.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/src/mqtt_bridge/bridge.py b/src/mqtt_bridge/bridge.py index 9f77970..63efddb 100644 --- a/src/mqtt_bridge/bridge.py +++ b/src/mqtt_bridge/bridge.py @@ -112,9 +112,12 @@ class MqttToRosBridge(Bridge): now = rospy.get_time() 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 + try: + ros_msg = self._create_ros_message(mqtt_msg) + self._publisher.publish(ros_msg) + self._last_published = now + except Exception as e: + rospy.logerr(e) def _create_ros_message(self, mqtt_msg): u""" create ROS message from MQTT payload -- GitLab