update launch files

config/pub.yaml

@@ -1,5 +1,12 @@
-demo_bridge_pub:
+mqtt_ros_bridge:
   ros__parameters:
-    pub1: 
-      topic: "hi"
-
+    turtle_pub: 
+      topic: "/turtle1/cmd_vel"
+      type: "geometry_msgs.msg:Twist"
+      publish_on_ros: True
+
+    yippee: 
+      topic: "foo"
+      type: "std_msgs.msg:String"
+      publish_on_ros: True
+      use_ros_serializer: True

launch/demo_pub.py → launch/demo_pub_launch.py

@@ -26,13 +26,20 @@ def generate_launch_description() -> LaunchDescription:
     run_bridge_node = Node(
         package='mqtt_ros_bridge',
         executable='bridge_node',
-        name='demo_bridge_pub',
         emulate_tty=True,
         output='screen',
         parameters=[config]
     )
 
+    turtle_sim = Node(
+        package='turtlesim',
+        executable='turtlesim_node',
+        emulate_tty=True,
+        output='screen'
+    )
+
     return LaunchDescription([
         SetEnvironmentVariable("ROS_DOMAIN_ID", "2"),
-        run_bridge_node
+        run_bridge_node,
+        turtle_sim
     ])

mqtt_ros_bridge/bridge_node.py

@@ -1,45 +1,55 @@
-from dataclasses import dataclass
 from typing import Any, Callable, Generic
 
 import paho.mqtt.client as MQTT
 import rclpy
-
 from rclpy._rclpy_pybind11 import RMWError
 from rclpy.node import Node
 from rclpy.publisher import Publisher
 
 from mqtt_ros_bridge.msg_typing import MsgLikeT
-from mqtt_ros_bridge.serializer import ROSDefaultSerializer, Serializer
+from mqtt_ros_bridge.serializer import (JSONSerializer, ROSDefaultSerializer,
+                                        Serializer)
 from mqtt_ros_bridge.util import lookup_object
 
 
-@dataclass
 class TopicInfo(Generic[MsgLikeT]):
     """Metadata about a single topic."""
 
-    name: str
-    msg_type: type[MsgLikeT]
-    # Should Serializer also be generic across MsgLikeT?
-    serializer: type[Serializer]
-    publish_on_ros: bool
+    def __init__(self, name: str, msg_object_path: str,
+                 publish_on_ros: bool, use_ros_serializer: bool = True) -> None:
+
+        self.name = name
+        self.msg_type = lookup_object(msg_object_path)
+        self.publish_on_ros = publish_on_ros
+
+        if use_ros_serializer:
+            self.serializer: type[Serializer] = ROSDefaultSerializer
+        else:
+            self.serializer = JSONSerializer
 
 
-TOPICS: dict[str, TopicInfo] = {
-    '/turtle1/cmd_vel': TopicInfo('/turtle1/cmd_vel', lookup_object("std_msgs.msg:String"),
-                                  ROSDefaultSerializer, False),
-    # 'sub_topic': TopicInfo('sub_topic', String, ROSDefaultSerializer, False)
-}
+# TOPICS: dict[str, TopicInfo] = {
+#     '/turtle1/cmd_vel': TopicInfo('/turtle1/cmd_vel', "std_msgs.msg:String", False),
+#     # 'sub_topic': TopicInfo('sub_topic', String, ROSDefaultSerializer, False)
+# }
 
 MQTT_PORT = 1883
 MQTT_KEEPALIVE = 60
 
+PARAMETER_TOPIC = "topic"
+PARAMETER_TYPE = "type"
+PARAMETER_PUBLISH_ON_ROS = "publish_on_ros"
+PARAMETER_USE_ROS_SERIALIZER = "use_ros_serializer"
+
 
 class BridgeNode(Node):
     """Node to bridge MQTT and ROS."""
 
     def __init__(self) -> None:
         super().__init__('mqtt_bridge_node')
 
+        self.topics = self.topic_info_from_parameters()
+
         # TODO get from parameters
         DEBUG = True
 
@@ -52,8 +62,7 @@ def __init__(self) -> None:
 
         self.ros_publishers: dict[str, Publisher] = {}
 
-        for topic_info in TOPICS.values():
-            print(topic_info.msg_type)
+        for topic_info in self.topics.values():
             if topic_info.publish_on_ros:
                 publisher = self.create_publisher(topic_info.msg_type, topic_info.name, 10)
                 self.ros_publishers[topic_info.name] = publisher
@@ -65,6 +74,16 @@ def __init__(self) -> None:
 
         self.mqtt_client.on_message = self.mqtt_callback
 
+    def topic_info_from_parameters(self) -> dict[str, TopicInfo]:
+        dictionary = {}
+
+        params = self.get_parameters_by_prefix('')
+
+        self.get_logger().info(str(params))
+
+        return dictionary
+
+
     def make_ros_callback(self, topic_info: TopicInfo[MsgLikeT]) -> Callable[[MsgLikeT], None]:
         """
         Create a callback function which re-publishes messages on the same topic in MQTT.
@@ -96,7 +115,7 @@ def mqtt_callback(self, _client: MQTT.Client,
             the message received over MQTT
 
         """
-        topic_info = TOPICS[mqtt_msg.topic]
+        topic_info = self.topics[mqtt_msg.topic]
 
         self.get_logger().info(
             f'MQTT RECEIVED: Topic: "{topic_info.name}" Payload: "{mqtt_msg.payload!r}"')