updated dep on modified opcua

Cargo.toml

@@ -8,5 +8,5 @@ edition = "2018"
 r2r = "0.5.3"
 futures = "0.3.15"
 tokio = { version = "1", features = ["full"] }
-opcua-client = "0.8"
+opcua-client = {git = "https://github.com/kristoferb/opcua", branch = "0.8.1"}
 serde_json = "1.0"

README.md

@@ -18,3 +18,8 @@ Or simply
 ```
 cargo run -- --ros-args -p server_address:="opc.tcp://192.168.1.33:4840/" -p node_ids:=["ns=4;i=45","ns=4;i=46","ns=4;i=47","ns=4;i=94","ns=4;i=306"]
 ```
+
+Another example
+```
+cargo run -- --ros-args -p server_address:="opc.tcp://192.168.100.10:4840/" -p node_ids:=["ns=4;s=|var|CODESYS CONTROL FOR Raspberry Pi MC SL.Application.IO.bool_from_plc_1","ns=4;s=|var|CODESYS CONTROL FOR Raspberry Pi MC SL.Application.IO.bool_to_plc_1"]
+```

src/main.rs

@@ -261,8 +261,8 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
     let state = Arc::new(Mutex::new(HashMap::new()));
     let (session, _kill) = setup_opc(&server_address, node_ids, state.clone()).expect("could not connect to opc server");
 
-    let sub = node.subscribe::<r2r::std_msgs::msg::String>("command")?;
-    let publisher = node.create_publisher::<r2r::std_msgs::msg::String>("measured")?;
+    let sub = node.subscribe::<r2r::std_msgs::msg::String>("opc_command")?;
+    let publisher = node.create_publisher::<r2r::std_msgs::msg::String>("opc_measured")?;
 
     let state_task = state.clone();
     let handle = tokio::task::spawn_blocking(move || loop {