add parameter for primitive mqtt2ros

Author: lreiher

README.md

@@ -188,6 +188,7 @@ bridge:
   mqtt2ros:            # array specifying which MQTT topics to map to which ROS topics
     - mqtt_topic:        # MQTT topic on which messages are received from the broker
       ros_topic:         # ROS topic on which corresponding MQTT messages are published
+      primitive:         # [false] whether to publish as primitive message (if coming from non-ROS MQTT client)
       advanced:
         mqtt:
           qos:             # [0] MQTT QoS value

include/mqtt_client/MqttClient.h

@@ -346,6 +346,8 @@ class MqttClient : public nodelet::Nodelet,
       int queue_size = 1;                       ///< ROS publisher queue size
       bool latched = false;  ///< whether to latch ROS message
     } ros;                   ///< ROS-related variables
+    bool primitive = false;  ///< whether to publish as primitive message (if
+                             ///< coming from non-ROS MQTT client)
   };
 
  protected:

src/MqttClient.cpp

@@ -181,6 +181,10 @@ void MqttClient::loadParameters() {
           Mqtt2RosInterface& mqtt2ros = mqtt2ros_[mqtt_topic];
           mqtt2ros.ros.topic = std::string(mqtt2ros_params[k]["ros_topic"]);
 
+          // mqtt2ros[k]/primitive
+          if (mqtt2ros_params[k].hasMember("primitive"))
+            mqtt2ros.primitive = mqtt2ros_params[k]["primitive"];
+
           // mqtt2ros[k]/advanced
           if (mqtt2ros_params[k].hasMember("advanced")) {
             XmlRpc::XmlRpcValue& advanced_params =