MQTT <-> ROS bridge for Intel© RealSense™ Cameras

Table of contents

• Installation
• Starting the ros-mqtt-bridge node
  • ros2 run
  • ros2 launch
• Parameters
• Client Usage
  • Enumerate Devices
  • Reset the device
  • Get Device Info
  • Get Transformation
  • Send HWM Command
  • Get Parameter
  • Set Parameter
  • Get Frame
  • Get Safety Preset
  • Set Safety Preset
  • Get Safety Interface Config
  • Set Safety Interface Config
  • Get Calib Config
  • Set Calib Config
  • Get Safety Application Config
  • Set Safety Application Config
  • Triggered Calibration
• Supported Parameters For Set/Get
• Supported Streams
• Usage Example

Installation

This step assumes you have installed ROS environment and ROS Wrapper for Realsense Cameras (including RealSense SDK). For more info about these steps, click here

• Install paho-mqtt from https://pypi.org/project/paho-mqtt/2.1.0/

    sudo pip3 install paho-mqtt==2.1.0
    

• Create a ROS2 workspace

    mkdir -p ~/ros2_ws/src
    cd ~/ros2_ws/src/
    

• Build

    colcon build
    

• Source environment

    ROS_DISTRO=<YOUR_SYSTEM_ROS_DISTRO>  # set your ROS_DISTRO: iron, humble
    source /opt/ros/$ROS_DISTRO/setup.bash
    cd ~/ros2_ws
    ./install/local_setup.bash
    

Starting the ros-mqtt-bridge node

this step assumes there is a running and configured MQTT broker, and at least one running realsense2_camera node ### ros2 run ros2 run realsense2_ros_mqtt_bridge realsense2_ros_mqtt_bridge # or, with parameters, for example ros2 run realsense2_ros_mqtt_bridge realsense2_ros_mqtt_bridge –ros-args -p broker_ip:=’localhost’ ### ros2 launch ros2 launch realsense2_ros_mqtt_bridge rs_launch.py # or, with parameters, for example ros2 launch realsense2_ros_mqtt_bridge rs_launch.py broker_ip:=’localhost’

Parameters

All parameters can be configured or overriden by the ros2 run and ros2 launch commands (see examples in above section), or from the rs_launch.py file

• broker_ip
  • description: MQTT broker ip address
  • default value: ‘localhost’
• broker_port
  • description: MQTT port
  • default value: ‘1883’
• log_level

  • description: log level [DEBUG

    INFO

    WARN

    ERROR

    FATAL]

  • default value: INFO

Client Usage

Enumerate Devices

• mqtt request message example

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Changelog for package realsense2_ros_mqtt_bridge

4.57.4 (2025-11-02)

• Update realsense2__ros_mqtt_bridge package.xml to .57.4
• PR #3441 from remibettan/ros2-development: merging 4.57.3 to ros2-development
• Merge tag '4.57.3' into ros2-development
• Contributors: Remi Bettan

4.57.3 (2025-09-15)

• PR #3428 from remibettan: fixing mqtt readme
• PR #3417 from remibettan: Merging ros2 hkr to ros2 dev final
• PR #38 from PrasRsRos: Implement hw reset in mqtt and add test
• PR #37 from PrasRsRos: Hmc test update
• PR #36 from PrasRsRos: Add hmc command tests to mqtt
• PR #32 from SamerKhshiboun: Support HWM command as ROS2 service and in the ROS-MQTT bridge node
• PR #34 from PrasRsRos: mqtt tf testcase
• PR #30 from SamerKhshiboun: Use new apis of SIC and SP that works directly with JSON inputs/outputs
• PR #31 from SamerKhshiboun: Support TF lookup for ROS-MQTT bridge node
• PR #29 from PrasRsRos/mqtt_negative__tests
• PR #28 from SamerKhshiboun: Fix MQTT Demo and update values for and update TC consecutives
• PR #26 from PrasRsRos: More system tests for mqtt
• PR #24 from PrasRsRos: Test TC on two cameras in parallel
• PR #23 from PrasRsRos: Ros tc implementation
• PR #22 from PrasRsRos: Added device info test at the system level
• PR #17 from SamerKhshiboun: Change sucess response "true/false" to be boolean
• PR #19 from PrasRsRos: DeviceInfo and TC Mqtt tests
• PR #16 from PrasRsRos: RS ROS Mqtt bridge unit tests
• PR #15 from SamerKhshiboun: Support device info service in ROS-MQTT bridge
• PR #14 from SamerKhshiboun: Merge ros2-development into hkr
• PR #13 from SamerKhshiboun: Sٍupport set/get application config as ROS service and in ROS-MQTT bridge
• PR #12 from SamerKhshiboun: TC Support in ROS-MQTT Bridge Node
• PR #10 from SamerKhshiboun: Add ROS MQTT Bridge (Python) Node Into realsense-ros-private
• Contributors: Nir Azkiel, PrasRsRos, Remi Bettan, Samer Khshiboun
• PR #3428 from remibettan: fixing mqtt readme
• readme fixed
• PR #3417 from remibettan: Merging ros2 hkr to ros2 dev final
• PR #38 from PrasRsRos: Implement hw reset in mqtt and add test
• PR #37 from PrasRsRos: Hmc test update
• PR #36 from PrasRsRos: Add hmc command tests to mqtt
• PR #32 from SamerKhshiboun: Support HWM command as ROS2 service and in the ROS-MQTT bridge node
• PR #34 from PrasRsRos: mqtt tf testcase
• PR #30 from SamerKhshiboun: Use new apis of SIC and SP that works directly with JSON inputs/outputs
• PR #31 from SamerKhshiboun: Support TF lookup for ROS-MQTT bridge node
• PR #29 from PrasRsRos/mqtt_negative__tests
• PR #28 from SamerKhshiboun: Fix MQTT Demo and update values for and update TC consecutives failures threshold
• PR #26 from PrasRsRos: More system tests for mqtt
• PR #24 from PrasRsRos: Test TC on two cameras in parallel

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