 Program
   Variables Setup
   BeforeStart
     index≔0
     var_bool≔ False 
     res_PoS≔mqtt_set_publish_on_stop("/Test/publish/mqtt-connector/OnStop", "UR10 - Program stopped!", 0,  False , "mosquitto")
   Robot Program
     Loop
       MoveJ
         Waypoint_1
         res_pub01≔mqtt_publish("Test/publish/mqtt-connector/pubPose", get_actual_tcp_pose(), 1, False, "mosquitto")
         Waypoint_2
         res_pub02≔mqtt_publish("Test/publish/mqtt-connector/pubPose",get_actual_tcp_pose(), 1, False, "mosquitto")
       var_bool≔ not var_bool
       res_pub03≔mqtt_publish("Test/publish/mqtt-connector/pubBool", var_bool, 0, False, "mosquitto")
       res_pub04≔mqtt_publish("Test/publish/mqtt-connector/pubInt", index, 0, False, "mosquitto")
       var_float≔index/3
       res_pub05≔mqtt_publish("Test/publish/mqtt-connector/pubFloat", var_float, 0, False, "mosquitto")
       var_intArray≔[index, index+1, index+2, index+3]
       res_pub06≔mqtt_publish("Test/publish/mqtt-connector/pubIntArray", var_intArray,0, False, "mosquitto")
       var_boolArray≔[var_bool,  not var_bool, var_bool,  not var_bool]
       res_pub07≔mqtt_publish("Test/publish/mqtt-connector/pubBoolArray", var_boolArray, 0,False, "mosquitto")
       var_floatArray≔[index, index/2, index/3, index/4]
       res_pub08≔mqtt_publish("Test/publish/mqtt-connector/pubFloatArray", var_floatArray, 0, False, "mosquitto")
       index≔index+1
       Wait: 1.0
