mqtt2ros

from mqtt IOT protocol (json) to ros msgs (rostopic)

pozyx mqtt api protocol

https://docs.pozyx.io/enterprise/latest/interfaces/mqtt-api

Requirements

sudo apt install mosquitto mosquitto-clients
pip install paho-mqtt or  python -m pip install paho-mqtt
pip install mqtt-recorder

Run the Package

Custom data pub/sub

# MQTT JSON publisher
python mqtt_json_pub.py ../data/config.json

# MQTT JSON Subscriber
python mqtt_json_sub.py

Record/Replay MQTT data

# MQTT JSON record
mqtt-recorder --host [Gateway HOST IP] --mode record --file logs/filename.csv

# MQTT JSON replay
mqtt-recorder --host localhost --mode replay --file logs/filename.csv

# Rosbag replay
rosbag play logs/filename.bag

Data sub2ros

# MQTT JSON Subscribe and Parse to custom ROS msg
rosrun mqtt2ros mqtt2rosmsg.py

References

• https://stackoverflow.com/questions/42731998/how-to-publish-json-data-on-mqtt-broker-in-python
• https://gist.github.com/marianoguerra/be216a581ef7bc23673f501fdea0e15a
• https://rfriend.tistory.com/474
• http://www.steves-internet-guide.com/send-json-data-mqtt-python/
• https://pypi.org/project/mqtt-recorder/