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
-- 
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