Module: MQTTMosquitto


Module info:

Module name Short description Publishes Subscribes
MQTTMosquitto The interface to an user Client (Pilot, Web-RTC, etc). ADD_ARC , ADD_NODE , CANCEL_NAVIGATION , CHANGE_NODE_LABEL , GET_NODE_POSITION , GET_PATH , GIRAFF_CONTROL_MODE , LOAD_GRAPH , MOTION_CMD_V , MOTION_CMD_W , MOVE_NODE , MQTT_CONNECT_STATUS , NAVIGATE_TARGET , PILOT_MQTT_ACK , RELOCALIZE_IN_AREA , REMOVE_ARC , REMOVE_NODE , SAVE_GRAPH , SAVE_RAWLOG CANCEL_NAVIGATION , ERROR_MSG , GET_PATH , GIRAFF_CONTROL_MODE , GRAPH , LASER1 , LOCALIZATION , ROBOT_TOPOLOGICAL_PLACE , SHUTDOWN

MOOS commands accepted by the module:

Parameters accepted in the MOOS mission file:
Parameter Description
enable_TLS_security Use TLS security layer to connect to MQTT broker
IP The IP address of the MQTT broker
laserScanRate If sendLaserScans=yes, the rate (Hz) of sendign the laser scans
laserScanResolution If sendLaserScans=yes, the resolution (%) of samples from the laser scan
localizationRate The rate (Hz) of sendign the localization to the Pilot client
password The password to connect to the MQTT broker
PORT The PORT of the MQTT broker
sendLaserScans Yes/No send laser scans to Pilot client
TLS_CAfile_pem Name of the CAfile
TLS_CERTfile_pem Name of the Certificate file
TLS_KEYfile_pem Name of the key file
TLS_path The path to the TLS certificates
user The username to connect to the MQTT broker (new sesion). It is the asigned name to the Robot, e.g: Giraff_ES4

Detailed description:
The interface to an user Client (Pilot, Web-RTC, etc).This module enables the communications between OpenMORA architecture and a MQTT client for sharing information and commands.MQTT Topic <-> OpenMORA variable--------------------------------------------------------------Giraff_Name/ClientACK -->PILOT_MQTT_ACKGiraff_Name/TopologyCommand-GetTopology -- (Send Variable GRAPH in Topic Topology)-ADD_NODE label type x y --> ADD_NODE-ADD_ARC labelA labelB ArcType --> ADD ARC-REMOVE_NODE label --> REMOVE_NODE-REMOVE_ARCC labelA labelB ArcType --> REMOVE_AR-MOVE_NODE label x y --> MOVE_NODE-CHANGE_NODE_LABEL labelOld labelNew --> CHANGE_NODE_LABEL-LOAD_GRAPH filename --> LOAD_GRAPH-SAVE_GRAPH filename --> SAVE_GRAPHGiraff_Name/NavigationCommand-StopGiraff --> CANCEL_NAVIGATION-GoToNode label --> GET_PATH-GoToPoint x y --> NAVIGATE_TARGET-Relocalize x y --> RELOCALIZE_IN_AREA-Motors mode --> MOTION_CMD_V + MOTION CMD_W-Motion v w --> MOTION_CMD_V + MOTION CMD_WGiraff_Name/MapBuildingCommand-Rawlog Start/Stop --> SAVE_RAWLOG----------------------------------------------------------------------------------------Giraff_Name/Localization <-- LOCALIZATIONGiraff_Name/ManualMode <-- CANCEL_NAVIGATIONGiraff_Name/Topology <-- GRAPHGiraff_Name/ErrorMsg <-- ERROR_MSGGiraff_Name/LaserScan <-- LASER1Giraff_Name/NavigationMode manual|ninguno <-- Navigation mode and destinyauto|destinorecovery|destino

Module graph:
MQTTMosquitto

TODO list:
(None)


Changes log:
(None)



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