Merge pull request #369 from compas-dev/fix-publish

Re-advertise topic if the ros client has changed

Author: gonzalocasas

CHANGELOG.rst

@@ -23,6 +23,7 @@ Unreleased
 
 * Fixed DH params for analytical IK solver of UR3e and UR10e.
 * Fixed Kinetic support on IK, FK, and motion planning calls.
+* Fixed ``Publish to topic`` Grasshopper component when the ``ros_client`` has been replaced (eg. disconnected and reconnected).
 
 **Deprecated**
 

src/compas_fab/ghpython/components/Cf_RosTopicPublish/code.py

@@ -25,8 +25,8 @@ def RunScript(self, ros_client, topic_name, topic_type, msg):
         topic = st.get(key, None)
 
         if ros_client and ros_client.is_connected:
-            if not topic:
-                topic = Topic(ros_client, topic_name, topic_type)
+            if not topic or topic.ros != ros_client:
+                topic = Topic(ros_client, topic_name, topic_type, reconnect_on_close=False)
                 topic.advertise()
                 time.sleep(0.2)