LARDEMUA ROS MQTT bridge.

This is our set of scripts to bridge two ROS distributions using mqtt messages.

The topics.yml file should be filled with information about the ros topic(s) you want to send to through mqtt. For each topic we need the topic name, the type and class of the topic. Here's an example.

Installation

Install mosquitto and mosquitto client

apt-get install mosquitto mosquitto-clients

Then install the pip requirements

pip install -r requirements.txt

Test using mosquitto

To see if all is working correctly you can run a test using mosquitto by publishing a topic:

mosquitto_pub -t 'test/topic' -m 'helloWorld334345' -h 127.0.0.1

And then subscribing to it:

mosquitto_sub -v -t 'test/topic' -h 127.0.0.1

Configuration

data:
  tf:
    topic: /tf
    type: tf2_msgs/TFMessage
    class: tf2_msgs.msg._TFMessage.TFMessage
  tf_static:
    topic: /tf_static
    type: tf2_msgs/TFMessage
    class: tf2_msgs.msg._TFMessage.TFMessage
  joint_states:
    topic: /joint_states
    type: sensor_msgs/JointState
    class: sensor_msgs.msg._JointState.JointState

You can get the type and class of a topic by publishing these topics in ROS and running script get_topic_class_and_type.

How to run

After configuration you need run script ros_to_mqtt indicating the ip adress of the machine you are sending the mqtt topics to:

./ros_to_mqtt -v -ip 192.168.187.2

And then run the mqtt to ros translator:

clear && ./mqtt_to_ros -ip 127.0.0.1