ROS 2 port of mqtt_client, a C++ node for bi-directionally bridging messages between ROS and MQTT

lreiher · 2023-08-03T10:25:52.093Z

We are happy to announce that mqtt_client , first released a year ago, has now been ported to and released for ROS 2 Humble, Iron, and Rolling!

The mqtt_client package provides a ROS node that enables connected ROS-based devices or robots to exchange ROS messages via an MQTT broker using the MQTT protocol . This works generically for arbitrary ROS message types.

Main features:

C++ node for high performance and memory efficiency
support for arbitrary ROS message types through the use of generic publishers and subscribers
support for many MQTT features like QoS levels, authentication, and encryption
extensive configuration options on both the ROS and MQTT side
support for exchanging messages of primitive data types with other non-ROS MQTT clients
built-in functionality for measuring the latency of transferring a ROS message via an MQTT broker back to ROS

Below you can find a minimal configuration for sending any message on ROS topic /ping to MQTT topic pingpong and back to ROS topic /pong on a single machine. A real use case would naturally involve more ROS-based machines.
Feel free to check out the Quick Start from our GitHub repository or the ROS Wiki page !

mqtt_client:
  ros__parameters:
    broker:
      host: localhost
      port: 1883
    bridge:
      ros2mqtt:
        ros_topic: /ping/ros
        mqtt_topic: pingpong
      mqtt2ros:
        mqtt_topic: pingpong
        ros_topic: /pong/ros

system · 2023-09-02T10:25:55.282Z

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