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Only connect to server, if our own publisher has listeners #48

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Only connect to server, if our own publisher has listeners #48

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17 changes: 11 additions & 6 deletions scripts/ntrip_ros.py
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Original file line number Diff line number Diff line change
Expand Up @@ -116,11 +116,6 @@ def run(self):
# Setup a shutdown hook
rospy.on_shutdown(self.stop)

# Connect the client
if not self._client.connect():
rospy.logerr('Unable to connect to NTRIP server')
return 1

# Setup our subscriber
self._nmea_sub = rospy.Subscriber('nmea', Sentence, self.subscribe_nmea, queue_size=10)

Expand All @@ -141,9 +136,19 @@ def stop(self):

def subscribe_nmea(self, nmea):
# Just extract the NMEA from the message, and send it right to the server
self._client.send_nmea(nmea.sentence)
if self._client._connected:
self._client.send_nmea(nmea.sentence)

def publish_rtcm(self, event):
if self._rtcm_pub.get_num_connections()==0:
if self._client._connected:
self._client.disconnect()
return
if not self._client._connected:
# Connect the client
if not self._client.connect():
rospy.logerr('Unable to connect to NTRIP server')
return
for raw_rtcm in self._client.recv_rtcm():
self._rtcm_pub.publish(self._create_rtcm_message(raw_rtcm))

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