Robobot MQTT topics - Revision history

Jca: /* Send command */

2026-07-10T09:41:44Z

Send command

← Older revision		Revision as of 11:41, 10 July 2026
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	=== Send command ===		=== Send command ===

	To get gyro data faster, as an example (update every ms):		To get gyro data faster, as an example (update every 1 ms):
	mosquitto_pub -h 10.197.218.72 -t dtubot/cmd/T0 -m "sub gyro 1"		mosquitto_pub -h 10.197.218.72 -t dtubot/cmd/T0 -m "sub gyro 1"
	Or stopping gyro streaming		Or stopping gyro streaming

2026-07-10T09:40:42Z

Send command

← Older revision		Revision as of 11:40, 10 July 2026
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	=== Send command ===		=== Send command ===

	To get gyro data faster, as an example:		To get gyro data faster, as an example (update every ms):
	mosquitto_pub -h 10.197.218.72 -t dtubot/cmd/T0~~/sub~~ -m "gyro 1"		mosquitto_pub -h 10.197.218.72 -t dtubot/cmd/T0 -m "sub gyro 1"
	Or stopping gyro streaming		Or stopping gyro streaming
	mosquitto_pub -h 10.197.218.72 -t dtubot/cmd/T0~~/sub~~ -m "gyro 0"		mosquitto_pub -h 10.197.218.72 -t dtubot/cmd/T0 -m "sub gyro 0"

			Note there is a bandwidth limit at about 4000 messages per second, so the above will use about 25% of the available bandwidth.

2026-05-15T15:18:11Z

Command topics from Teensy_interface

← Older revision		Revision as of 17:18, 15 May 2026
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	The teensy interface can publish messages related to its own state, such as:		The teensy interface can publish messages related to its own state, such as:
	dtubot/drive/gnss "<time> <lat> <long> <speed> <sats> <dop>"		dtubot/drive/gnss <time> <lat> <long> <speed> <sats> <dop>
	dtubot/drive/joy/axis "<time> <axis1> <axis2> ... <axis8>		dtubot/drive/joy/axis <time> <axis1> <axis2> ... <axis8>
	dtubot/drive/joy/buttons "<time> <but1> <but2> ... <but11>		dtubot/drive/joy/buttons <time> <but1> <but2> ... <but11>
	dtubot/drive/joy/state "<time> <manual> <linear vel> <turnrate>		dtubot/drive/joy/state <time> <manual> <linear vel> <turnrate>

	== Command topics to Teensy_interface ==		== Command topics to Teensy_interface ==

2026-05-15T11:07:37Z

Command topics to Teensy_interface

← Older revision		Revision as of 13:07, 15 May 2026
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	* dtubot/cmd/ti/		* dtubot/cmd/ti/

	Examples ~~are (~~from the MQTT-in logger):		Examples from the MQTT-in logger (log_mqtt_in.txt):

	1738498850.8640 0 drive dtubot/cmd/ti log 1		1738498850.8640 0 drive dtubot/cmd/ti log 1
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	1738498852.2016 0 drive dtubot/cmd/ti alive 2025-02-02 13:20:50.861066		1738498852.2016 0 drive dtubot/cmd/ti alive 2025-02-02 13:20:50.861066
	1738498857.8342 0 drive dtubot/cmd/ti log 0		1738498857.8342 0 drive dtubot/cmd/ti log 0
	The ''teensy_interface'' logger adds the first 3 columns; the rest are topic and message.		The ''teensy_interface'' logger adds the first 3 columns; the rest are the MQTT topic and message.

	=== Master topic ===		=== Master topic ===

			Only one MQTT client should be allowed to act as the master; at this point, this is the client's responsibility.

	A master regularly publishes a live message that includes a timestamp as payload, e.g. every 400ms:		A master regularly publishes a live message that includes a timestamp as payload, e.g. every 400ms:

2026-05-15T11:00:43Z

Command topics to Teensy_interface

← Older revision		Revision as of 13:00, 15 May 2026
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	* dtubot/cmd/ti/		* dtubot/cmd/ti/

	Examples are:		Examples are (from the MQTT-in logger):

	1738498850.8640 0 drive dtubot/cmd/ti log 1		1738498850.8640 0 drive dtubot/cmd/ti log 1

2026-05-15T10:58:04Z

← Older revision		Revision as of 12:58, 15 May 2026
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	At times, the Teensy sends a comment or a debug message. Such messages are sent with the ''info'' topic. A ''#'' always precedes the data in the payload.		At times, the Teensy sends a comment or a debug message. Such messages are sent with the ''info'' topic. A ''#'' always precedes the data in the payload.

			== Command topics from Teensy_interface ==

			The teensy interface can publish messages related to its own state, such as:
			dtubot/drive/gnss "<time> <lat> <long> <speed> <sats> <dop>"
			dtubot/drive/joy/axis "<time> <axis1> <axis2> ... <axis8>
			dtubot/drive/joy/buttons "<time> <but1> <but2> ... <but11>
			dtubot/drive/joy/state "<time> <manual> <linear vel> <turnrate>

	== Command topics to Teensy_interface ==		== Command topics to Teensy_interface ==

2026-05-15T10:41:05Z

2026-02-01T12:09:30Z

MQTT

← Older revision		Revision as of 14:09, 1 February 2026
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	The ''MQTT-explorer'' is recommended and available on all platforms. see: http://mqtt-explorer.com/		The ''MQTT-explorer'' is recommended and available on all platforms. see: http://mqtt-explorer.com/

	[[file: mqtt-server-with-app.png \| ~~700px~~]]		[[file: mqtt-server-with-app.png \| 770px]]

	MQTT message flow and power off. Messages can be explored by MQTT Explorer. The ''ip_display'' does not display the IP address; it is handled by the ''teensy_interface'' (legacy names). The ''Start'' button starts the Python mission app. The shutdown (>5 sec on 'Start') is received by all. The Teensy is told to cut power in 20 seconds to allow the Raspberry to shut down.		MQTT message flow and power off. Messages can be explored by MQTT Explorer. The ''ip_display'' does not display the IP address; it is handled by the ''teensy_interface'' (legacy names). The ''Start'' button starts the Python mission app. The shutdown (>5 sec on 'Start') is received by all. The Teensy is told to cut power in 20 seconds to allow the Raspberry to shut down.

2026-02-01T12:08:39Z

MQTT

← Older revision		Revision as of 14:08, 1 February 2026
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	[[file: mqtt-server-with-app.png \| 700px]]		[[file: mqtt-server-with-app.png \| 700px]]

	MQTT message flow and power off. Messages can be explored by MQTT Explorer.		MQTT message flow and power off. Messages can be explored by MQTT Explorer. The ''ip_display'' does not display the IP address; it is handled by the ''teensy_interface'' (legacy names). The ''Start'' button starts the Python mission app. The shutdown (>5 sec on 'Start') is received by all. The Teensy is told to cut power in 20 seconds to allow the Raspberry to shut down.

	== Robobot ==		== Robobot ==

2026-02-01T12:01:48Z

MQTT

← Older revision		Revision as of 14:01, 1 February 2026
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	[[file: mqtt-server-with-app.png \| 700px]]		[[file: mqtt-server-with-app.png \| 700px]]

			MQTT message flow and power off. Messages can be explored by MQTT Explorer.

	== Robobot ==		== Robobot ==