This PR introduces generic std_msgs::msg::Empty ros publishers in which the user is able to configure, in the params.yaml file, a mapping from a mqtt topic to a ros topic.
It removes the old wrapper and subscribercallback classes and instead incorporates the mqtt client directly as a member in the bridge.
This PR has been tried working with the old way of publishing MQTT msgs out from ATOS with predefined ros topics. (DENMs and state changes)
This PR introduces generic std_msgs::msg::Empty ros publishers in which the user is able to configure, in the params.yaml file, a mapping from a mqtt topic to a ros topic.
It removes the old wrapper and subscribercallback classes and instead incorporates the mqtt client directly as a member in the bridge.
This PR has been tried working with the old way of publishing MQTT msgs out from ATOS with predefined ros topics. (DENMs and state changes)