def parse_acoustic_bm(self, tokens):
"""
This method parse an incoming burst message and publish its content on a dedicated topic
:param tokens: list of message fields
"""
msg = AcousticModemPayload()
msg.header.stamp = rospy.Time.now()
msg.address = int(tokens[2])
msg.bitrate = int(tokens[4])
msg.rssi = float(tokens[5])
msg.integrity = float(tokens[6])
msg.propagation_time = int(tokens[7])
self.propagation_time = int(tokens[7])
# print 'Distance', self.propagation_time * 1500 * 10**-6
msg.relative_velocity = float(tokens[8])
msg.payload = ','.join(tokens[9:])
rospy.loginfo('%s: Received burst message from node %s, payload: %s, info: %s' % (self.name, msg.address, repr(msg.payload), repr(msg.info)))
self.received_cnt += 1
self.pub_burst_in.publish(msg)
