mqtt_bridge package from mqtt_bridge repo

mqtt_bridge

Package Summary

Tags No category tags.
Version 0.1.6
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/groove-x/mqtt_bridge.git
VCS Type git
VCS Version master
Last Updated 2018-02-20
Dev Status MAINTAINED
Released RELEASED

Package Description

The mqtt_bridge package

Additional Links

Maintainers

  • Junya Hayashi

Authors

  • Junya Hayashi

mqtt_bridge

mqtt_bridge provides a functionality to bridge between ROS and MQTT in bidirectional.

Principle

mqtt_bridge uses ROS message as its protocol. Messages from ROS are serialized by json (or messagepack) for MQTT, and messages from MQTT are deserialized for ROS topic. So MQTT messages should be ROS message compatible. (We use rosbridge_library.internal.message_conversion for message conversion.)

This limitation can be overcome by defining custom bridge class, though.

Demo

prepare MQTT broker and client

$ sudo apt-get install mosquitto mosquitto-clients

Install python modules

$ pip install -r requirements.txt

launch node

$ roslaunch mqtt_bridge demo.launch

Publish to /ping,

$ rostopic pub /ping std_msgs/Bool "data: true"

and see response to /pong.

$ rostopic echo /pong
data: True
---

Publish "hello" to /echo,

$ rostopic pub /echo std_msgs/String "data: 'hello'"

and see response to /back.

$ rostopic echo /back
data: hello
---

You can also see MQTT messages using mosquitto_sub

$ mosquitto_sub -t '#'

Usage

parameter file (config.yaml):

mqtt:
  client:
    protocol: 4      # MQTTv311
  connection:
    host: localhost
    port: 1883
    keepalive: 60
bridge:
  # ping pong
  - factory: mqtt_bridge.bridge:RosToMqttBridge
    msg_type: std_msgs.msg:Bool
    topic_from: /ping
    topic_to: ping
  - factory: mqtt_bridge.bridge:MqttToRosBridge
    msg_type: std_msgs.msg:Bool
    topic_from: ping
    topic_to: /pong

launch file:

<launch>
  <node name="mqtt_bridge" pkg="mqtt_bridge" type="mqtt_bridge_node.py" output="screen">
    <rosparam file="/path/to/config.yaml" command="load" />
  </node>
</launch>

Configuration

mqtt

Parameters under mqtt section are used for creating paho's mqtt.Client and its configuration.

subsections

  • client: used for mqtt.Client constructor
  • tls: used for tls configuration
  • account: used for username and password configuration
  • message: used for MQTT message configuration
  • userdata: used for MQTT userdata configuration
  • will: used for MQTT's will configuration

See mqtt_bridge.mqtt_client for detail.

mqtt private path

If mqtt/private_path parameter is set, leading ~/ in MQTT topic path will be replaced by this value. For example, if mqtt/pivate_path is set as "device/001", MQTT path "~/value" will be converted to "device/001/value".

serializer and deserializer

mqtt_bridge uses json as a serializer in default. But you can also configure other serializers. For example, if you want to use messagepack for serialization, add following configuration.

serializer: msgpack:dumps
deserializer: msgpack:loads

bridges

You can list ROS <--> MQTT tranfer specifications in following format.

bridge:
  # ping pong
  - factory: mqtt_bridge.bridge:RosToMqttBridge
    msg_type: std_msgs.msg:Bool
    topic_from: /ping
    topic_to: ping
  - factory: mqtt_bridge.bridge:MqttToRosBridge
    msg_type: std_msgs.msg:Bool
    topic_from: ping
    topic_to: /pong

  • factory: bridge class for transfering message from ROS to MQTT, and vise versa.
  • msg_type: ROS Message type transfering through the bridge.
  • topic_from: topic incoming from (ROS or MQTT)
  • topic_to: topic outgoing to (ROS or MQTT)

Also, you can create custom bridge class by inheriting mqtt_brige.bridge.Bridge.

License

This software is released under the MIT License, see LICENSE.txt.

CHANGELOG

Changelog for package mqtt_bridge

0.1.6 (2017-11-10)

  • fix if frequency is none (#2)

0.1.5 (2016-12-07)

  • Update configurations

0.1.0 (2016-12-04)

  • Initial Release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mqtt_bridge at answers.ros.org

mqtt_bridge package from mqtt_bridge repo

mqtt_bridge

Package Summary

Tags No category tags.
Version 0.1.6
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/groove-x/mqtt_bridge.git
VCS Type git
VCS Version master
Last Updated 2018-02-20
Dev Status MAINTAINED
Released RELEASED

Package Description

The mqtt_bridge package

Additional Links

Maintainers

  • Junya Hayashi

Authors

  • Junya Hayashi

mqtt_bridge

mqtt_bridge provides a functionality to bridge between ROS and MQTT in bidirectional.

Principle

mqtt_bridge uses ROS message as its protocol. Messages from ROS are serialized by json (or messagepack) for MQTT, and messages from MQTT are deserialized for ROS topic. So MQTT messages should be ROS message compatible. (We use rosbridge_library.internal.message_conversion for message conversion.)

This limitation can be overcome by defining custom bridge class, though.

Demo

prepare MQTT broker and client

$ sudo apt-get install mosquitto mosquitto-clients

Install python modules

$ pip install -r requirements.txt

launch node

$ roslaunch mqtt_bridge demo.launch

Publish to /ping,

$ rostopic pub /ping std_msgs/Bool "data: true"

and see response to /pong.

$ rostopic echo /pong
data: True
---

Publish "hello" to /echo,

$ rostopic pub /echo std_msgs/String "data: 'hello'"

and see response to /back.

$ rostopic echo /back
data: hello
---

You can also see MQTT messages using mosquitto_sub

$ mosquitto_sub -t '#'

Usage

parameter file (config.yaml):

mqtt:
  client:
    protocol: 4      # MQTTv311
  connection:
    host: localhost
    port: 1883
    keepalive: 60
bridge:
  # ping pong
  - factory: mqtt_bridge.bridge:RosToMqttBridge
    msg_type: std_msgs.msg:Bool
    topic_from: /ping
    topic_to: ping
  - factory: mqtt_bridge.bridge:MqttToRosBridge
    msg_type: std_msgs.msg:Bool
    topic_from: ping
    topic_to: /pong

launch file:

<launch>
  <node name="mqtt_bridge" pkg="mqtt_bridge" type="mqtt_bridge_node.py" output="screen">
    <rosparam file="/path/to/config.yaml" command="load" />
  </node>
</launch>

Configuration

mqtt

Parameters under mqtt section are used for creating paho's mqtt.Client and its configuration.

subsections

  • client: used for mqtt.Client constructor
  • tls: used for tls configuration
  • account: used for username and password configuration
  • message: used for MQTT message configuration
  • userdata: used for MQTT userdata configuration
  • will: used for MQTT's will configuration

See mqtt_bridge.mqtt_client for detail.

mqtt private path

If mqtt/private_path parameter is set, leading ~/ in MQTT topic path will be replaced by this value. For example, if mqtt/pivate_path is set as "device/001", MQTT path "~/value" will be converted to "device/001/value".

serializer and deserializer

mqtt_bridge uses json as a serializer in default. But you can also configure other serializers. For example, if you want to use messagepack for serialization, add following configuration.

serializer: msgpack:dumps
deserializer: msgpack:loads

bridges

You can list ROS <--> MQTT tranfer specifications in following format.

bridge:
  # ping pong
  - factory: mqtt_bridge.bridge:RosToMqttBridge
    msg_type: std_msgs.msg:Bool
    topic_from: /ping
    topic_to: ping
  - factory: mqtt_bridge.bridge:MqttToRosBridge
    msg_type: std_msgs.msg:Bool
    topic_from: ping
    topic_to: /pong

  • factory: bridge class for transfering message from ROS to MQTT, and vise versa.
  • msg_type: ROS Message type transfering through the bridge.
  • topic_from: topic incoming from (ROS or MQTT)
  • topic_to: topic outgoing to (ROS or MQTT)

Also, you can create custom bridge class by inheriting mqtt_brige.bridge.Bridge.

License

This software is released under the MIT License, see LICENSE.txt.

CHANGELOG

Changelog for package mqtt_bridge

0.1.6 (2017-11-10)

  • fix if frequency is none (#2)

0.1.5 (2016-12-07)

  • Update configurations

0.1.0 (2016-12-04)

  • Initial Release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mqtt_bridge at answers.ros.org