Merge pull request #89 from zouri/main

Author: lreiher

README.md

@@ -267,7 +267,7 @@ bridge:
 
 As seen in the [Quick Start](#quick-start), the *mqtt_client* can not only exchange arbitrary ROS messages with other *mqtt_clients*, but it can also exchange primitive message data with other non-*mqtt_client* MQTT clients. This allows ROS-based devices to exchange primitive messages with devices not based on ROS. The `primitive` parameter can be set for both ROS-to-MQTT (`bridge/ros2mqtt`) and for MQTT-to-ROS (`bridge/mqtt2ros`) transmissions.
 
-If a ROS-to-MQTT transmission is configured as `primitive` and the ROS message type is one of the supported primitive ROS message types, the raw data is published as a string. The supported primitive ROS message types are [`std_msgs/String`](http://docs.ros.org/en/api/std_msgs/html/msg/String.html), [`std_msgs/Bool`](http://docs.ros.org/en/api/std_msgs/html/msg/Bool.html), [`std_msgs/Char`](http://docs.ros.org/en/api/std_msgs/html/msg/Char.html), [`std_msgs/UInt8`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt8.html), [`std_msgs/UInt16`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt16.html), [`std_msgs/UInt32`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt32.html), [`std_msgs/UInt64`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt64.html), [`std_msgs/Int8`](http://docs.ros.org/en/api/std_msgs/html/msg/Int8.html), [`std_msgs/Int16`](http://docs.ros.org/en/api/std_msgs/html/msg/Int16.html), [`std_msgs/Int32`](http://docs.ros.org/en/api/std_msgs/html/msg/Int32.html), [`std_msgs/Int64`](http://docs.ros.org/en/api/std_msgs/html/msg/Int64.html), [`std_msgs/Float32`](http://docs.ros.org/en/api/std_msgs/html/msg/Float32.html), [`std_msgs/Float64`](http://docs.ros.org/en/api/std_msgs/html/msg/Float64.html).
+If a ROS-to-MQTT transmission is configured as `primitive` and the ROS message type is one of the supported primitive ROS message types, the raw data is published as a string. The supported primitive ROS message types are [`std_msgs/String`](http://docs.ros.org/en/api/std_msgs/html/msg/String.html), [`std_msgs/Bool`](http://docs.ros.org/en/api/std_msgs/html/msg/Bool.html), [`std_msgs/Char`](http://docs.ros.org/en/api/std_msgs/html/msg/Char.html), [`std_msgs/UInt8`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt8.html), [`std_msgs/UInt16`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt16.html), [`std_msgs/UInt32`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt32.html), [`std_msgs/UInt64`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt64.html), [`std_msgs/Int8`](http://docs.ros.org/en/api/std_msgs/html/msg/Int8.html), [`std_msgs/Int16`](http://docs.ros.org/en/api/std_msgs/html/msg/Int16.html), [`std_msgs/Int32`](http://docs.ros.org/en/api/std_msgs/html/msg/Int32.html), [`std_msgs/Int64`](http://docs.ros.org/en/api/std_msgs/html/msg/Int64.html), [`std_msgs/Float32`](http://docs.ros.org/en/api/std_msgs/html/msg/Float32.html), [`std_msgs/Float64`](http://docs.ros.org/en/api/std_msgs/html/msg/Float64.html), [`std_msgs/UInt8MultiArray`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt8MultiArray.html).
 
 If an MQTT-to-ROS transmission is configured as `primitive`, the MQTT message is interpreted and published as a primitive data type, if possible. The message is probed in the following order: `bool` ([`std_msgs/Bool`](http://docs.ros.org/en/api/std_msgs/html/msg/Bool.html)), `int` ([`std_msgs/Int32`](http://docs.ros.org/en/api/std_msgs/html/msg/Int32.html)), `float` ([`std_msgs/Float32`](http://docs.ros.org/en/api/std_msgs/html/msg/Float32.html)), `string` ([`std_msgs/String`](http://docs.ros.org/en/api/std_msgs/html/msg/String.html)).
 

mqtt_client/src/MqttClient.cpp

@@ -48,6 +48,7 @@ SOFTWARE.
 #include <std_msgs/msg/u_int32.hpp>
 #include <std_msgs/msg/u_int64.hpp>
 #include <std_msgs/msg/u_int8.hpp>
+#include <std_msgs/msg/u_int8_multi_array.hpp>
 
 #include <rclcpp_components/register_node_macro.hpp>
 RCLCPP_COMPONENTS_REGISTER_NODE(mqtt_client::MqttClient)
@@ -164,6 +165,12 @@ bool fixedMqtt2PrimitiveRos(mqtt::const_message_ptr mqtt_msg,
       std_msgs::msg::Float64 msg;
       msg.data = mqtt2float<double>(mqtt_msg);
 
+      serializeRosMessage(msg, serialized_msg);
+    } else if (msg_type == "std_msgs/msg/UInt8MultiArray") {
+      std_msgs::msg::UInt8MultiArray msg;
+      const std::string& str_msg = mqtt_msg->to_string();
+      msg.data = std::vector<uint8_t>(str_msg.begin(), str_msg.end());
+      
       serializeRosMessage(msg, serialized_msg);
     } else {
       throw std::domain_error("Unhandled message type (" + msg_type + ")");
@@ -251,6 +258,10 @@ bool primitiveRosMessageToString(
     std_msgs::msg::Float64 msg;
     deserializeRosMessage(*serialized_msg, msg);
     primitive = std::to_string(msg.data);
+  } else if (msg_type == "std_msgs/msg/UInt8MultiArray") {
+    std_msgs::msg::UInt8MultiArray msg;
+    deserializeRosMessage(*serialized_msg, msg);
+    primitive = std::string(msg.data.begin(), msg.data.end());
   } else {
     found_primitive = false;
   }