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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