ROS Nodelet for sending and receiving ROS messages via MQTT. More...

#include <MqttClient.h>

Inheritance diagram for mqtt_client::MqttClient:

[legend]

Classes
struct	BrokerConfig
	Struct containing broker parameters. More...

struct	ClientConfig
	Struct containing client parameters. More...

struct	Mqtt2RosInterface
	Struct containing variables related to a MQTT2ROS connection. More...

struct	Ros2MqttInterface
	Struct containing variables related to a ROS2MQTT connection. More...

Public Member Functions
	MqttClient (const rclcpp::NodeOptions &options)
	Initializes node. More...

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Protected Member Functions
void	connect ()
	Connects to the broker using the member client and options. More...

void	connect ()
	Connects to the broker using the member client and options. More...

void	connected (const std::string &cause) override
	Callback for when the client has successfully connected to the broker. More...

void	connected (const std::string &cause) override
	Callback for when the client has successfully connected to the broker. More...

void	connection_lost (const std::string &cause) override
	Callback for when the client has lost connection to the broker. More...

void	connection_lost (const std::string &cause) override
	Callback for when the client has lost connection to the broker. More...

void	delivery_complete (mqtt::delivery_token_ptr token) override
	Callback for when delivery for a MQTT message has been completed. More...

void	delivery_complete (mqtt::delivery_token_ptr token) override
	Callback for when delivery for a MQTT message has been completed. More...

bool	isConnected ()
	Returns whether the client is connected to the broker. More...

bool	isConnected ()
	Returns whether the client is connected to the broker. More...

bool	isConnectedService (mqtt_client_interfaces::IsConnected::Request &request, mqtt_client_interfaces::IsConnected::Response &response)
	ROS service returning whether the client is connected to the broker. More...

void	isConnectedService (mqtt_client_interfaces::srv::IsConnected::Request::SharedPtr request, mqtt_client_interfaces::srv::IsConnected::Response::SharedPtr response)
	ROS service returning whether the client is connected to the broker. More...

bool	loadParameter (const std::string &key, std::string &value)
	Loads requested ROS parameter from parameter server. More...

bool	loadParameter (const std::string &key, std::string &value)
	Loads requested ROS parameter from parameter server. More...

bool	loadParameter (const std::string &key, std::string &value, const std::string &default_value)
	Loads requested ROS parameter from parameter server, allows default value. More...

bool	loadParameter (const std::string &key, std::string &value, const std::string &default_value)
	Loads requested ROS parameter from parameter server, allows default value. More...

template<typename T >
bool	loadParameter (const std::string &key, std::vector< T > &value)
	Loads requested ROS parameter from parameter server. More...

template<typename T >
bool	loadParameter (const std::string &key, std::vector< T > &value)
	Loads requested ROS parameter from parameter server. More...

template<typename T >
bool	loadParameter (const std::string &key, std::vector< T > &value, const std::vector< T > &default_value)
	Loads requested ROS parameter from parameter server, allows default value. More...

template<typename T >
bool	loadParameter (const std::string &key, std::vector< T > &value, const std::vector< T > &default_value)
	Loads requested ROS parameter from parameter server, allows default value. More...

template<typename T >
bool	loadParameter (const std::string &key, T &value)
	Loads requested ROS parameter from parameter server. More...

template<typename T >
bool	loadParameter (const std::string &key, T &value)
	Loads requested ROS parameter from parameter server. More...

template<typename T >
bool	loadParameter (const std::string &key, T &value, const T &default_value)
	Loads requested ROS parameter from parameter server, allows default value. More...

template<typename T >
bool	loadParameter (const std::string &key, T &value, const T &default_value)
	Loads requested ROS parameter from parameter server, allows default value. More...

void	loadParameters ()
	Loads ROS parameters from parameter server. More...

void	loadParameters ()
	Loads ROS parameters from parameter server. More...

void	message_arrived (mqtt::const_message_ptr mqtt_msg) override
	Callback for when the client receives a MQTT message from the broker. More...

void	message_arrived (mqtt::const_message_ptr mqtt_msg) override
	Callback for when the client receives a MQTT message from the broker. More...

void	mqtt2primitive (mqtt::const_message_ptr mqtt_msg)
	Publishes a primitive message received via MQTT to ROS. More...

void	mqtt2primitive (mqtt::const_message_ptr mqtt_msg)
	Publishes a primitive message received via MQTT to ROS. More...

void	mqtt2ros (mqtt::const_message_ptr mqtt_msg, const rclcpp::Time &arrival_stamp)
	Publishes a ROS message received via MQTT to ROS. More...

void	mqtt2ros (mqtt::const_message_ptr mqtt_msg, const ros::WallTime &arrival_stamp=ros::WallTime::now())
	Publishes a ROS message received via MQTT to ROS. More...

void	on_failure (const mqtt::token &token) override
	Callback for when a MQTT action fails. More...

void	on_failure (const mqtt::token &token) override
	Callback for when a MQTT action fails. More...

void	on_success (const mqtt::token &token) override
	Callback for when a MQTT action succeeds. More...

void	on_success (const mqtt::token &token) override
	Callback for when a MQTT action succeeds. More...

virtual void	onInit () override
	Initializes nodelet when nodelet is loaded. More...

std::filesystem::path	resolvePath (const std::string &path_string)
	Converts a string to a path object resolving paths relative to ROS_HOME. More...

std::filesystem::path	resolvePath (const std::string &path_string)
	Converts a string to a path object resolving paths relative to ROS_HOME. More...

void	ros2mqtt (const std::shared_ptr< rclcpp::SerializedMessage > &serialized_msg, const std::string &ros_topic)
	Publishes a generic serialized ROS message to the MQTT broker. More...

void	ros2mqtt (const topic_tools::ShapeShifter::ConstPtr &ros_msg, const std::string &ros_topic)
	Serializes and publishes a generic ROS message to the MQTT broker. More...

void	setup ()
	Initializes broker connection and subscriptions. More...

void	setup ()
	Initializes broker connection and subscriptions. More...

void	setupClient ()
	Sets up the client connection options and initializes the client object. More...

void	setupClient ()
	Sets up the client connection options and initializes the client object. More...

void	setupSubscriptions ()
	Checks all active ROS topics in order to set up generic subscribers. More...

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes
BrokerConfig	broker_config_
	Broker parameters. More...

rclcpp::TimerBase::SharedPtr	check_subscriptions_timer_
	Timer to repeatedly check active ROS topics for topics to subscribe. More...

std::shared_ptr< mqtt::async_client >	client_
	MQTT client variable. More...

ClientConfig	client_config_
	Client parameters. More...

mqtt::connect_options	connect_options_
	MQTT client connection options. More...

bool	is_connected_ = false
	Status variable keeping track of connection status to broker. More...

rclcpp::Service< mqtt_client_interfaces::srv::IsConnected >::SharedPtr	is_connected_service_
	ROS Service server for providing connection status. More...

ros::ServiceServer	is_connected_service_
	ROS Service server for providing connection status. More...

std::map< std::string, Mqtt2RosInterface >	mqtt2ros_
	MQTT2ROS connection variables sorted by MQTT topic. More...

ros::NodeHandle	node_handle_
	ROS node handle. More...

ros::NodeHandle	private_node_handle_
	Private ROS node handle. More...

std::map< std::string, Ros2MqttInterface >	ros2mqtt_
	ROS2MQTT connection variables sorted by ROS topic. More...

uint32_t	stamp_length_

Static Protected Attributes
static const std::string	kLatencyRosTopicPrefix = "latencies/"
	ROS topic prefix under which ROS2MQTT2ROS latencies are published. More...

static const std::string	kRosMsgTypeMqttTopicPrefix
	MQTT topic prefix under which ROS message type information is published. More...

Detailed Description

ROS Nodelet for sending and receiving ROS messages via MQTT.

The MqttClient enables connected ROS-based devices or robots to exchange ROS messages via an MQTT broker using the MQTT protocol. This works generically for any ROS message, i.e. there is no need to specify the ROS message type for ROS messages you wish to exchange via the MQTT broker.

Definition at line 58 of file MqttClient.h.

Constructor & Destructor Documentation

◆ MqttClient()

mqtt_client::MqttClient::MqttClient ( const rclcpp::NodeOptions & options )

explicit

Initializes node.

Parameters

[in] options ROS node options

Definition at line 144 of file MqttClient.ros2.cpp.

Member Function Documentation

◆ connect() [1/2]

void mqtt_client::MqttClient::connect ( )

protected

Connects to the broker using the member client and options.

Definition at line 472 of file MqttClient.cpp.

◆ connect() [2/2]

void mqtt_client::MqttClient::connect ( )

protected

Connects to the broker using the member client and options.

◆ connected() [1/2]

void mqtt_client::MqttClient::connected ( const std::string & cause )

overrideprotected

Callback for when the client has successfully connected to the broker.

Overrides mqtt::callback::connected(const std::string&).

Parameters

cause

◆ connected() [2/2]

void mqtt_client::MqttClient::connected ( const std::string & cause )

overrideprotected

Callback for when the client has successfully connected to the broker.

Overrides mqtt::callback::connected(const std::string&).

Parameters

cause

Definition at line 801 of file MqttClient.cpp.

◆ connection_lost() [1/2]

void mqtt_client::MqttClient::connection_lost ( const std::string & cause )

overrideprotected

Callback for when the client has lost connection to the broker.

Overrides mqtt::callback::connection_lost(const std::string&).

Parameters

cause

◆ connection_lost() [2/2]

void mqtt_client::MqttClient::connection_lost ( const std::string & cause )

overrideprotected

Callback for when the client has lost connection to the broker.

Overrides mqtt::callback::connection_lost(const std::string&).

Parameters

cause

Definition at line 823 of file MqttClient.cpp.

◆ delivery_complete() [1/2]

void mqtt_client::MqttClient::delivery_complete ( mqtt::delivery_token_ptr token )

overrideprotected

Callback for when delivery for a MQTT message has been completed.

Overrides mqtt::callback::delivery_complete(mqtt::delivery_token_ptr).

Parameters

token token tracking the message delivery

◆ delivery_complete() [2/2]

void mqtt_client::MqttClient::delivery_complete ( mqtt::delivery_token_ptr token )

overrideprotected

Callback for when delivery for a MQTT message has been completed.

Overrides mqtt::callback::delivery_complete(mqtt::delivery_token_ptr).

Parameters

token token tracking the message delivery

Definition at line 931 of file MqttClient.cpp.

◆ isConnected() [1/2]

bool mqtt_client::MqttClient::isConnected ( )

protected

Returns whether the client is connected to the broker.

Returns: true if client is connected to the broker; false if client is not connected to the broker

◆ isConnected() [2/2]

bool mqtt_client::MqttClient::isConnected ( )

protected

Returns whether the client is connected to the broker.

Returns: true if client is connected to the broker; false if client is not connected to the broker

Definition at line 831 of file MqttClient.cpp.

◆ isConnectedService() [1/2]

bool mqtt_client::MqttClient::isConnectedService	(	mqtt_client_interfaces::IsConnected::Request &	request,
		mqtt_client_interfaces::IsConnected::Response &	response
	)

protected

ROS service returning whether the client is connected to the broker.

Parameters

request	service request
response	service response

Returns: true always; false never

Definition at line 837 of file MqttClient.cpp.

◆ isConnectedService() [2/2]

void mqtt_client::MqttClient::isConnectedService	(	mqtt_client_interfaces::srv::IsConnected::Request::SharedPtr	request,
		mqtt_client_interfaces::srv::IsConnected::Response::SharedPtr	response
	)

protected

ROS service returning whether the client is connected to the broker.

Parameters

request	service request
response	service response

Definition at line 897 of file MqttClient.ros2.cpp.

◆ loadParameter() [1/12]

bool mqtt_client::MqttClient::loadParameter	(	const std::string &	key,
		std::string &	value
	)

protected

Loads requested ROS parameter from parameter server.

Parameters

[in]	key	parameter name
[out]	value	variable where to store the retrieved parameter

Returns: true if parameter was successfully retrieved; false if parameter was not found

Definition at line 339 of file MqttClient.cpp.

◆ loadParameter() [2/12]

bool mqtt_client::MqttClient::loadParameter	(	const std::string &	key,
		std::string &	value
	)

protected

Loads requested ROS parameter from parameter server.

Parameters

[in]	key	parameter name
[out]	value	variable where to store the retrieved parameter

Returns: true if parameter was successfully retrieved; false if parameter was not found

◆ loadParameter() [3/12]

bool mqtt_client::MqttClient::loadParameter	(	const std::string &	key,
		std::string &	value,
		const std::string &	default_value
	)

protected

Loads requested ROS parameter from parameter server, allows default value.

Parameters

[in]	key	parameter name
[out]	value	variable where to store the retrieved parameter
[in]	default_value	default value

Returns: true if parameter was successfully retrieved; false if parameter was not found or default was used

Definition at line 348 of file MqttClient.cpp.

◆ loadParameter() [4/12]

bool mqtt_client::MqttClient::loadParameter	(	const std::string &	key,
		std::string &	value,
		const std::string &	default_value
	)

protected

Loads requested ROS parameter from parameter server, allows default value.

Parameters

[in]	key	parameter name
[out]	value	variable where to store the retrieved parameter
[in]	default_value	default value

Returns: true if parameter was successfully retrieved; false if parameter was not found or default was used

◆ loadParameter() [5/12]

template<typename T >

bool mqtt_client::MqttClient::loadParameter	(	const std::string &	key,
		std::vector< T > &	value
	)

protected

Loads requested ROS parameter from parameter server.

Template Parameters

T	type (one of int, double, bool)

Parameters

[in]	key	parameter name
[out]	value	variable where to store the retrieved parameter

Returns: true if parameter was successfully retrieved; false if parameter was not found

Definition at line 507 of file MqttClient.h.

◆ loadParameter() [6/12]

template<typename T >

bool mqtt_client::MqttClient::loadParameter	(	const std::string &	key,
		std::vector< T > &	value
	)

protected

Loads requested ROS parameter from parameter server.

Template Parameters

T	type (one of int, double, bool)

Parameters

[in]	key	parameter name
[out]	value	variable where to store the retrieved parameter

Returns: true if parameter was successfully retrieved; false if parameter was not found

◆ loadParameter() [7/12]

template<typename T >

bool mqtt_client::MqttClient::loadParameter	(	const std::string &	key,
		std::vector< T > &	value,
		const std::vector< T > &	default_value
	)

protected

Loads requested ROS parameter from parameter server, allows default value.

Template Parameters

T	type (one of int, double, bool)

Parameters

[in]	key	parameter name
[out]	value	variable where to store the retrieved parameter
[in]	default_value	default value

Returns: true if parameter was successfully retrieved; false if parameter was not found or default was used

Definition at line 518 of file MqttClient.h.

◆ loadParameter() [8/12]

template<typename T >

bool mqtt_client::MqttClient::loadParameter	(	const std::string &	key,
		std::vector< T > &	value,
		const std::vector< T > &	default_value
	)

protected

Loads requested ROS parameter from parameter server, allows default value.

Template Parameters

T	type (one of int, double, bool)

Parameters

[in]	key	parameter name
[out]	value	variable where to store the retrieved parameter
[in]	default_value	default value

Returns: true if parameter was successfully retrieved; false if parameter was not found or default was used

◆ loadParameter() [9/12]

template<typename T >

bool mqtt_client::MqttClient::loadParameter	(	const std::string &	key,
		T &	value
	)

protected

Loads requested ROS parameter from parameter server.

Template Parameters

T	type (one of int, double, bool)

Parameters

[in]	key	parameter name
[out]	value	variable where to store the retrieved parameter

Returns: true if parameter was successfully retrieved; false if parameter was not found

Definition at line 480 of file MqttClient.h.

◆ loadParameter() [10/12]

template<typename T >

bool mqtt_client::MqttClient::loadParameter	(	const std::string &	key,
		T &	value
	)

protected

Loads requested ROS parameter from parameter server.

Template Parameters

T	type (one of int, double, bool)

Parameters

[in]	key	parameter name
[out]	value	variable where to store the retrieved parameter

Returns: true if parameter was successfully retrieved; false if parameter was not found

◆ loadParameter() [11/12]

template<typename T >

bool mqtt_client::MqttClient::loadParameter	(	const std::string &	key,
		T &	value,
		const T &	default_value
	)

protected

Loads requested ROS parameter from parameter server, allows default value.

Template Parameters

T	type (one of int, double, bool)

Parameters

[in]	key	parameter name
[out]	value	variable where to store the retrieved parameter
[in]	default_value	default value

Returns: true if parameter was successfully retrieved; false if parameter was not found or default was used

Definition at line 490 of file MqttClient.h.

◆ loadParameter() [12/12]

template<typename T >

bool mqtt_client::MqttClient::loadParameter	(	const std::string &	key,
		T &	value,
		const T &	default_value
	)

protected

Loads requested ROS parameter from parameter server, allows default value.

Template Parameters

T	type (one of int, double, bool)

Parameters

[in]	key	parameter name
[out]	value	variable where to store the retrieved parameter
[in]	default_value	default value

Returns: true if parameter was successfully retrieved; false if parameter was not found or default was used

◆ loadParameters() [1/2]

void mqtt_client::MqttClient::loadParameters ( )

protected

Loads ROS parameters from parameter server.

Definition at line 158 of file MqttClient.cpp.

◆ loadParameters() [2/2]

void mqtt_client::MqttClient::loadParameters ( )

protected

Loads ROS parameters from parameter server.

◆ message_arrived() [1/2]

void mqtt_client::MqttClient::message_arrived ( mqtt::const_message_ptr mqtt_msg )

overrideprotected

Callback for when the client receives a MQTT message from the broker.

Overrides mqtt::callback::message_arrived(mqtt::const_message_ptr). If the received MQTT message contains information about a ROS message type, the corresponding ROS publisher is configured. If the received MQTT message is a ROS message, the mqtt2ros conversion is called.

Parameters

mqtt_msg MQTT message

◆ message_arrived() [2/2]

void mqtt_client::MqttClient::message_arrived ( mqtt::const_message_ptr mqtt_msg )

overrideprotected

Callback for when the client receives a MQTT message from the broker.

Overrides mqtt::callback::message_arrived(mqtt::const_message_ptr). If the received MQTT message contains information about a ROS message type, the corresponding ROS publisher is configured. If the received MQTT message is a ROS message, the mqtt2ros conversion is called.

Parameters

mqtt_msg MQTT message

Definition at line 846 of file MqttClient.cpp.

◆ mqtt2primitive() [1/2]

void mqtt_client::MqttClient::mqtt2primitive ( mqtt::const_message_ptr mqtt_msg )

protected

Publishes a primitive message received via MQTT to ROS.

Currently not implemented.

Parameters

mqtt_msg MQTT message

◆ mqtt2primitive() [2/2]

void mqtt_client::MqttClient::mqtt2primitive ( mqtt::const_message_ptr mqtt_msg )

protected

Publishes a primitive message received via MQTT to ROS.

This tries to interpret the raw MQTT message as a bool, int, or float value in the given order before falling back to string. The message is then published as a corresponding primitive ROS message. This utilizes the ShapeShifter stored for the MQTT topic on which the message was received. The ShapeShifter is dynamically configured to the appropriate ROS message type.

The following mappings from primitive type to ROS message type hold: bool: std_msgs/Bool int: std_msgs/Int32 float: std_msgs/Float32 string: std_msgs/String

Parameters

mqtt_msg MQTT message

Definition at line 671 of file MqttClient.cpp.

◆ mqtt2ros() [1/2]

void mqtt_client::MqttClient::mqtt2ros	(	mqtt::const_message_ptr	mqtt_msg,
		const rclcpp::Time &	arrival_stamp
	)

protected

Publishes a ROS message received via MQTT to ROS.

This utilizes the generic publisher stored for the MQTT topic on which the message was received. The publisher has to be configured to the ROS message type of the message. If the message carries an injected timestamp, the latency is computed and published.

The MQTT payload is expected to carry the following:

0 or 1 (indicating if timestamp is injected (=1))
serialized timestamp (optional)
serialized ROS message

Parameters

mqtt_msg	MQTT message
arrival_stamp	arrival timestamp used for latency computation

Definition at line 692 of file MqttClient.ros2.cpp.

◆ mqtt2ros() [2/2]

void mqtt_client::MqttClient::mqtt2ros	(	mqtt::const_message_ptr	mqtt_msg,
		const ros::WallTime &	arrival_stamp = `ros::WallTime::now()`
	)

protected

Publishes a ROS message received via MQTT to ROS.

This utilizes the ShapeShifter stored for the MQTT topic on which the message was received. The ShapeShifter has to be configured to the ROS message type of the message. If the message carries an injected timestamp, the latency is computed and published.

The MQTT payload is expected to carry the following:

0 or 1 (indicating if timestamp is injected (=1))
serialized timestamp (optional)
serialized ROS message

Parameters

mqtt_msg	MQTT message
arrival_stamp	arrival timestamp used for latency computation

Definition at line 607 of file MqttClient.cpp.

◆ on_failure() [1/2]

void mqtt_client::MqttClient::on_failure ( const mqtt::token & token )

overrideprotected

Callback for when a MQTT action fails.

Overrides mqtt::iaction_listener::on_failure(const mqtt::token&). Logs error.

Parameters

token token tracking the action

◆ on_failure() [2/2]

void mqtt_client::MqttClient::on_failure ( const mqtt::token & token )

overrideprotected

Callback for when a MQTT action fails.

Overrides mqtt::iaction_listener::on_failure(const mqtt::token&). Logs error.

Parameters

token token tracking the action

Definition at line 940 of file MqttClient.cpp.

◆ on_success() [1/2]

void mqtt_client::MqttClient::on_success ( const mqtt::token & token )

overrideprotected

Callback for when a MQTT action succeeds.

Overrides mqtt::iaction_listener::on_success(const mqtt::token&). Does nothing.

Parameters

token token tracking the action

◆ on_success() [2/2]

void mqtt_client::MqttClient::on_success ( const mqtt::token & token )

overrideprotected

Callback for when a MQTT action succeeds.

Overrides mqtt::iaction_listener::on_success(const mqtt::token&). Does nothing.

Parameters

token token tracking the action

Definition at line 934 of file MqttClient.cpp.

◆ onInit()

void mqtt_client::MqttClient::onInit ( )

overrideprotectedvirtual

Initializes nodelet when nodelet is loaded.

Overrides nodelet::Nodelet::onInit().

Implements nodelet::Nodelet.

Definition at line 147 of file MqttClient.cpp.

◆ resolvePath() [1/2]

std::filesystem::path mqtt_client::MqttClient::resolvePath ( const std::string & path_string )

protected

Converts a string to a path object resolving paths relative to ROS_HOME.

Resolves relative to CWD, if ROS_HOME is not set. Returns empty path, if argument is empty.

Parameters

path_string (relative) path as string

Returns: std::filesystem::path path variable

Definition at line 365 of file MqttClient.cpp.

◆ resolvePath() [2/2]

std::filesystem::path mqtt_client::MqttClient::resolvePath ( const std::string & path_string )

protected

Converts a string to a path object resolving paths relative to ROS_HOME.

Resolves relative to CWD, if ROS_HOME is not set. Returns empty path, if argument is empty.

Parameters

path_string (relative) path as string

Returns: std::filesystem::path path variable

◆ ros2mqtt() [1/2]

void mqtt_client::MqttClient::ros2mqtt	(	const std::shared_ptr< rclcpp::SerializedMessage > &	serialized_msg,
		const std::string &	ros_topic
	)

protected

Publishes a generic serialized ROS message to the MQTT broker.

Before publishing the ROS message to the MQTT broker, the ROS message type is extracted. This type information is also sent to the MQTT broker on a separate topic.

The MQTT payload for the actual ROS message carries the following:

0 or 1 (indicating if timestamp is injected (=1))
serialized timestamp (optional)
serialized ROS message

Parameters

serialized_msg	generic serialized ROS message
ros_topic	ROS topic where the message was published

Definition at line 573 of file MqttClient.ros2.cpp.

◆ ros2mqtt() [2/2]

void mqtt_client::MqttClient::ros2mqtt	(	const topic_tools::ShapeShifter::ConstPtr &	ros_msg,
		const std::string &	ros_topic
	)

protected

Serializes and publishes a generic ROS message to the MQTT broker.

Before serializing the ROS message and publishing it to the MQTT broker, metadata on the ROS message type is extracted. This type information is also sent to the MQTT broker on a separate topic.

The MQTT payload for the actual ROS message carries the following:

0 or 1 (indicating if timestamp is injected (=1))
serialized timestamp (optional)
serialized ROS message

Parameters

ros_msg	generic ROS message
ros_topic	ROS topic where the message was published

Definition at line 490 of file MqttClient.cpp.

◆ setup() [1/2]

void mqtt_client::MqttClient::setup ( )

protected

Initializes broker connection and subscriptions.

Definition at line 384 of file MqttClient.cpp.

◆ setup() [2/2]

void mqtt_client::MqttClient::setup ( )

protected

Initializes broker connection and subscriptions.

◆ setupClient() [1/2]

void mqtt_client::MqttClient::setupClient ( )

protected

Sets up the client connection options and initializes the client object.

Definition at line 410 of file MqttClient.cpp.

◆ setupClient() [2/2]

void mqtt_client::MqttClient::setupClient ( )

protected

Sets up the client connection options and initializes the client object.

◆ setupSubscriptions()

void mqtt_client::MqttClient::setupSubscriptions ( )

protected

Checks all active ROS topics in order to set up generic subscribers.

Definition at line 460 of file MqttClient.ros2.cpp.

Member Data Documentation

◆ broker_config_

BrokerConfig mqtt_client::MqttClient::broker_config_

protected

Broker parameters.

Definition at line 450 of file MqttClient.h.

◆ check_subscriptions_timer_

rclcpp::TimerBase::SharedPtr mqtt_client::MqttClient::check_subscriptions_timer_

protected

Timer to repeatedly check active ROS topics for topics to subscribe.

Definition at line 427 of file MqttClient.ros2.hpp.

◆ client_

std::shared_ptr< mqtt::async_client > mqtt_client::MqttClient::client_

protected

MQTT client variable.

Definition at line 460 of file MqttClient.h.

◆ client_config_

ClientConfig mqtt_client::MqttClient::client_config_

protected

Client parameters.

Definition at line 455 of file MqttClient.h.

◆ connect_options_

mqtt::connect_options mqtt_client::MqttClient::connect_options_

protected

MQTT client connection options.

Definition at line 465 of file MqttClient.h.

◆ is_connected_

bool mqtt_client::MqttClient::is_connected_ = false

protected

Status variable keeping track of connection status to broker.

Definition at line 445 of file MqttClient.h.

◆ is_connected_service_ [1/2]

rclcpp::Service<mqtt_client_interfaces::srv::IsConnected>::SharedPtr mqtt_client::MqttClient::is_connected_service_

protected

ROS Service server for providing connection status.

Definition at line 433 of file MqttClient.ros2.hpp.

◆ is_connected_service_ [2/2]

ros::ServiceServer mqtt_client::MqttClient::is_connected_service_

protected

ROS Service server for providing connection status.

Definition at line 440 of file MqttClient.h.

◆ kLatencyRosTopicPrefix

const std::string mqtt_client::MqttClient::kLatencyRosTopicPrefix = "latencies/"

staticprotected

ROS topic prefix under which ROS2MQTT2ROS latencies are published.

Must contain trailing '/'.

Definition at line 425 of file MqttClient.h.

◆ kRosMsgTypeMqttTopicPrefix

const std::string mqtt_client::MqttClient::kRosMsgTypeMqttTopicPrefix

staticprotected

Initial value:

=

"mqtt_client/ros_msg_type/"

MQTT topic prefix under which ROS message type information is published.

Must contain trailing '/'.

Definition at line 418 of file MqttClient.h.

◆ mqtt2ros_

std::map< std::string, Mqtt2RosInterface > mqtt_client::MqttClient::mqtt2ros_

protected

MQTT2ROS connection variables sorted by MQTT topic.

Definition at line 475 of file MqttClient.h.

◆ node_handle_

ros::NodeHandle mqtt_client::MqttClient::node_handle_

protected

ROS node handle.

Definition at line 430 of file MqttClient.h.

◆ private_node_handle_

ros::NodeHandle mqtt_client::MqttClient::private_node_handle_

protected

Private ROS node handle.

Definition at line 435 of file MqttClient.h.

◆ ros2mqtt_

std::map< std::string, Ros2MqttInterface > mqtt_client::MqttClient::ros2mqtt_

protected

ROS2MQTT connection variables sorted by ROS topic.

Definition at line 470 of file MqttClient.h.

◆ stamp_length_

uint32_t mqtt_client::MqttClient::stamp_length_

protected

Message length of a serialized builtin_interfaces::msg::Time message

Definition at line 473 of file MqttClient.ros2.hpp.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MqttClient()

Member Function Documentation

◆ connect() [1/2]

◆ connect() [2/2]

◆ connected() [1/2]

◆ connected() [2/2]

◆ connection_lost() [1/2]

◆ connection_lost() [2/2]

◆ delivery_complete() [1/2]

◆ delivery_complete() [2/2]

◆ isConnected() [1/2]

◆ isConnected() [2/2]

◆ isConnectedService() [1/2]

◆ isConnectedService() [2/2]

◆ loadParameter() [1/12]

◆ loadParameter() [2/12]

◆ loadParameter() [3/12]

◆ loadParameter() [4/12]

◆ loadParameter() [5/12]

◆ loadParameter() [6/12]

◆ loadParameter() [7/12]

◆ loadParameter() [8/12]

◆ loadParameter() [9/12]

◆ loadParameter() [10/12]

◆ loadParameter() [11/12]

◆ loadParameter() [12/12]

◆ loadParameters() [1/2]

◆ loadParameters() [2/2]

◆ message_arrived() [1/2]

◆ message_arrived() [2/2]

◆ mqtt2primitive() [1/2]

◆ mqtt2primitive() [2/2]

◆ mqtt2ros() [1/2]

◆ mqtt2ros() [2/2]

◆ on_failure() [1/2]

◆ on_failure() [2/2]

◆ on_success() [1/2]

◆ on_success() [2/2]

◆ onInit()

◆ resolvePath() [1/2]

◆ resolvePath() [2/2]

◆ ros2mqtt() [1/2]

◆ ros2mqtt() [2/2]

◆ setup() [1/2]

◆ setup() [2/2]

◆ setupClient() [1/2]

◆ setupClient() [2/2]

◆ setupSubscriptions()

Member Data Documentation

◆ broker_config_

◆ check_subscriptions_timer_

◆ client_

◆ client_config_

◆ connect_options_

◆ is_connected_

◆ is_connected_service_ [1/2]

◆ is_connected_service_ [2/2]

◆ kLatencyRosTopicPrefix

◆ kRosMsgTypeMqttTopicPrefix

◆ mqtt2ros_

◆ node_handle_

◆ private_node_handle_

◆ ros2mqtt_

◆ stamp_length_