 Program
   Variables Setup
   BeforeStart
     index≔0
     var_bool≔ False 
   Robot Program
     MoveJ
       Start
       Approach
       End
   Thread_1
     If index≟1000
       index≔0
     index≔index+1
     var_pose≔get_actual_tcp_pose()
     var_int≔index
     var_float≔index*0.1
     var_string≔"Joe Black"
     var_bool≔ not var_bool
     res_clear≔mqtt_json_message_clear("mosquitto")
     res_add_pose≔mqtt_json_message_add("roboPose", var_pose,"mosquitto")
     res_add_int≔mqtt_json_message_add("counterData",index, "mosquitto")
     res_add_float≔mqtt_json_message_add("processProgress", var_float, "mosquitto")
     res_add_string≔mqtt_json_message_add("stationName", var_string, "mosquitto")
     res_add_bool≔mqtt_json_message_add("processBusy", var_bool, "mosquitto")
     res_add_bool≔mqtt_json_message_add("alwaysFalse",  False , "mosquitto")
     res_json_pub≔mqtt_publish_json("Test/publish/mqtt-connector/jsonData", 1,  False , "mosquitto")
     Wait: 0.1
