mqtt_ros_bridge

A ROS2 package for bridging between MQTT and ROS networks

Installation

Operating System and ROS2

ROS2 is pretty tightly coupled to Ubuntu versions. mqtt_ros_bridge supports ROS2 Iron Irwini. Use this guide to pick an OS and install Iron.

MQTT

Install an MQTT broker like Mosquitto.

sudo apt-get update
sudo apt-get install mosquitto mosquitto-clients -y

Your broker should now be running:

you@ubuntu:~ $ service mosquitto status
● mosquitto.service - Mosquitto MQTT v3.1/v3.1.1 Broker
   Loaded: loaded (/lib/systemd/system/mosquitto.service; enabled; vendor preset
   Active: active (running) since Sat 2021-01-30 16:46:20 GMT; 1min 23s ago
     Docs: man:mosquitto.conf(5)
           man:mosquitto(8)
 Main PID: 5390 (mosquitto)
    Tasks: 1 (limit: 2063)
   CGroup: /system.slice/mosquitto.service
           └─5390 /usr/sbin/mosquitto -c /etc/mosquitto/mosquitto.conf

Setting up a Workspace

Create a ROS workspace and clone the repo.

mkdir -p workspace/src
cd workspace/src
git clone https://github.com/benjaminwp18/mqtt_ros_bridge.git

Running the Bridge

Build and source the package from your workspace (workspace, not workspace/src). You may see EasyInstallDeprecationWarning: easy_install command is deprecated, but that can be ignored as long as the package doesn't say "failed".

colcon build --symlink-install
. install/setup.sh

Now start the demo by running these commands in two separate terminals:

ros2 launch mqtt_ros_bridge demo_pub_launch.py

ros2 launch mqtt_ros_bridge demo_sub_launch.py

Or launch the bridge in your own launch file with:

config = os.path.join(
   get_package_share_directory('mqtt_ros_bridge'),
   'config',
   'your_config_file.yaml'
)

TODO

• ROS services
• ROS actions
• Dynamic topic advertising