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Nodelets

mqtt_client/MqttClient

Enables connected ROS-based devices or robots to exchange ROS messages via an MQTT broker using the MQTT protocol.

Subscribed Topics

<bridge/ros2mqtt[*]/ros_topic> (topic_tools/ShapeShifter)
  • ROS topic whose messages are transformed to MQTT messages and sent to the MQTT broker. May have arbitrary ROS message type.

Published Topics

<bridge/mqtt2ros[*]/ros_topic> (topic_tools/ShapeShifter)
  • ROS topic on which MQTT messages received from the MQTT broker are published. May have arbitrary ROS message type.
~/latencies/<bridge/mqtt2ros[*]/ros_topic> (std_msgs/Float64)
  • Latencies measured on the message transfer to <bridge/mqtt2ros[*]/ros_topic> are published here, if the received messages have a timestamp injected.

Services

is_connected (mqtt_client/IsConnected)
  • Returns whether the client is connected to the MQTT broker.

Parameters

~broker/host (str, default: localhost)
  • IP address or hostname of the machine running the MQTT broker
~broker/port (int, default: 1883)
  • port the MQTT broker is listening on
~broker/user (str)
  • username used for authenticating to the broker (if empty, will try to connect anonymously)
~broker/pass (str)
  • password used for authenticating to the broker
~broker/tls/enabled (bool, default: false)
  • whether to connect via SSL/TLS
~broker/tls/ca_certificate (str, default: /etc/ssl/certs/ca-certificates.crt)
  • CA certificate file trusted by client (relative to ROS_HOME)
~client/id (str)
  • unique ID used to identify the client (broker may allow empty ID and automatically generate one)
~client/buffer/size (int, default: 0)
  • maximum number of messages buffered by the bridge when not connected to broker (only available if client ID is not empty)
~client/buffer/directory (str, default: buffer)
  • directory used to buffer messages when not connected to broker (relative to ROS_HOME)
~client/last_will/topic (str)
  • topic used for this client's last-will message (no last will, if not specified)
~client/last_will/message (str, default: offline)
  • last-will message
~client/last_will/qos (int, default: 0)
  • QoS value for last-will message
~client/last_will/retained (bool, default: false)
  • whether to retain last-will message
~client/clean_session (bool, default: true)
  • whether to use a clean session for this client
~client/keep_alive_interval (float, default: 60.0)
  • keep-alive interval in seconds
~client/max_inflight (int, default: 65535)
  • maximum number of inflight messages
~client/tls/certificate (str)
  • client certificate file (only needed if broker requires client certificates; relative to ROS_HOME)
~client/tls/key (str)
  • client private key file (relative to ROS_HOME)
~client/tls/password (str)
  • client private key password
~bridge/ros2mqtt/[ros_topic] (str)
  • ROS topic whose messages are transformed to MQTT messages
~bridge/ros2mqtt/[mqtt_topic] (str)
  • MQTT topic on which the corresponding ROS messages are sent to the broker
~bridge/ros2mqtt/[inject_timestamp] (bool, default: false)
  • whether to attach a timestamp to a ROS2MQTT payload (for latency computation on receiver side)
~bridge/ros2mqtt/[advanced/ros/queue_size] (int, default: 1)
  • ROS subscriber queue size
~bridge/ros2mqtt/[advanced/mqtt/qos] (int, default: 0)
  • MQTT QoS value
~bridge/ros2mqtt/[advanced/mqtt/retained] (bool, default: false)
  • whether to retain MQTT message
~bridge/mqtt2ros/[mqtt_topic] (str)
  • MQTT topic on which messages are received from the broker
~bridge/mqtt2ros/[ros_topic] (str)
  • ROS topic on which corresponding MQTT messages are published
~bridge/mqtt2ros/[advanced/mqtt/qos] (int, default: 0)
  • MQTT QoS value
~bridge/mqtt2ros/[advanced/ros/queue_size] (int, default: 1)
  • ROS publisher queue size
~bridge/mqtt2ros/[advanced/ros/latched] (bool, default: false)
  • whether to latch ROS message

Wiki: mqtt_client (last edited 2022-08-10 15:49:08 by LennartReiher)