Robobot MQTT topics - Revision history

Jca: /* MQTT */

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.

Jca: /* MQTT */

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 ==

Jca: /* MQTT */

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 ==

Jca at 11:51, 1 February 2026

2026-02-01T11:51:41Z

← Older revision		Revision as of 13:51, 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]]

	== Robobot ==		== Robobot ==

Jca: /* Commands topics to the Teensy */

2026-01-20T13:33:19Z

Commands topics to the Teensy

← Older revision		Revision as of 15:33, 20 January 2026
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	== Commands topics to the Teensy ==		== Commands topics to the Teensy ==

	Messages to the Teensy ~~are all topics starting with~~ the ~~direction~~ topic:		Messages to the Teensy use the topic:
	robobot/cmd/T0		robobot/cmd/T0
	~~Then, it~~ will ~~be followed by the~~ keyword ~~that Teensy can recognize~~.		The message will start with a command keyword.
	As an example, a command to subscribe to gyro data could be:		As an example, a command to subscribe to gyro data could be:
	topic: robobot/cmd/T0~~/sub~~		topic: robobot/cmd/T0
	message: gyro 15		message: sub gyro 15

	The Teensy interface ~~strips then strips the direction topic (robobot/cmd/T0) and~~ sends the ~~remaining~~ part ~~and the message~~ to the Teensy, in this case:		The Teensy interface sends the message part to the Teensy, in this case:
	sub gyro 15		sub gyro 15

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	The values are averaged over the subscription interval to reduce noise.		The values are averaged over the subscription interval to reduce noise.

	These messages are translated to MQTT af		These messages are translated to MQTT as
	topic: robobot/drive/T0/gyro		topic: robobot/drive/T0/gyro
	message: time x.xxxxx y.yyyyyy z.zzzzz, e.g.:		message: time x.xxxxx y.yyyyyy z.zzzzz, e.g.:
	message: 1740818119.4175 -0.021606 0.115082 0.381836		message: 1740818119.4175 -0.021606 0.115082 0.381836
	~~time is~~ the Raspberry Pi timestamp in seconds since the start of the epoch.		The message has now prepended the Raspberry Pi timestamp in seconds since the start of the epoch.

	The available commands are ~~here~~ [[Help page Teensy 8]].		The available commands are listed on the [[Help page Teensy 8]].

	== Subscription test (gyro) ==		== Subscription test (gyro) ==

Jca: /* Command topics to Teensy_interface */

2026-01-20T13:29:07Z

Command topics to Teensy_interface

← Older revision		Revision as of 15:29, 20 January 2026
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	Examples are:		Examples are:

	1738498850.8640 0 drive robobot/cmd/ti/log 1		1738498850.8640 0 drive robobot/cmd/ti log 1
	1738498851.3836 0 drive robobot/cmd/ti/rc 0.0 0.0		1738498851.3836 0 drive robobot/cmd/ti rc 0.0 0.0
	1738498851.3969 0 drive robobot/cmd/ti/rc 0.250 -1.000 1738498851.3969011		1738498851.3969 0 drive robobot/cmd/ti rc 0.250 -1.000 1738498851.3969011
	1738498851.8492 0 drive robobot/cmd/ti/alive 2025-02-02 13:20:50.861066		1738498851.8492 0 drive robobot/cmd/ti alive 2025-02-02 13:20:50.861066
	1738498851.8627 0 drive robobot/cmd/ti/rc 0.250 0.119 1738498851.8626823		1738498851.8627 0 drive robobot/cmd/ti rc 0.250 0.119 1738498851.8626823
	1738498852.2016 0 drive robobot/cmd/ti/alive 2025-02-02 13:20:50.861066		1738498852.2016 0 drive robobot/cmd/ti alive 2025-02-02 13:20:50.861066
	1738498857.8342 0 drive robobot/cmd/ti/log 0		1738498857.8342 0 drive robobot/cmd/ti log 0

	The first 3 columns are added by the ''teensy_interface'' logger, the rest is topic and message.		The first 3 columns are added by the ''teensy_interface'' logger, the rest are topic and message.

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

	A master regularly publishes ~~an alive~~ 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:

	at 1739609901.9768: robobot/cmd/ti/alive 2025-02-15 09:57:53.433439		at 1739609901.9768: robobot/cmd/ti alive 2025-02-15 09:57:53.433439
	at 1739609902.3793: robobot/cmd/ti/alive 2025-02-15 09:57:53.433439		at 1739609902.3793: robobot/cmd/ti alive 2025-02-15 09:57:53.433439
	at 1739609902.7721: robobot/cmd/ti/alive 2025-02-15 09:57:53.433439		at 1739609902.7721: robobot/cmd/ti alive 2025-02-15 09:57:53.433439

	If this is the first (or the only) MQTT client, that ~~want~~ to control the robot, then the ''teensy_interface'' publishes a master message with this timestamp, like:		If this is the first (or the only) MQTT client that wants to control the robot, then the ''teensy_interface'' publishes a master message with this timestamp, like:

	robobot/drive/master 1739609909.5709 2025-02-15 09:57:53.433439		robobot/drive/master 1739609909.5709 2025-02-15 09:57:53.433439

Jca: /* MQTT */

2026-01-20T13:24:56Z

MQTT

← Older revision		Revision as of 15:24, 20 January 2026
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	Mosquitto comes with commands for ''publish'' and subscribe directly from the command line, e.g.:		Mosquitto comes with commands for ''publish'' and subscribe directly from the command line, e.g.:

	mosquitto_pub -h 10.197.218.81 -t robobot/cmd/T0~~/sub~~ -m "ir 300"		mosquitto_pub -h 10.197.218.81 -t robobot/cmd/T0 -m "sub ir 300"
	mosquitto_sub -h 10.197.218.81 -v -t robobot/drive/T0/#		mosquitto_sub -h 10.197.218.81 -v -t robobot/drive/T0/#

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	Many other MQTT apps can be used too.		Many other MQTT apps can be used too.

	The ''MQTT-explorer'' ~~can be~~ recommended, and is available on all platforms. see: http://mqtt-explorer.com/		The ''MQTT-explorer'' is recommended and available on all platforms. see: http://mqtt-explorer.com/

	== Robobot ==		== Robobot ==

Jca at 08:04, 4 March 2025

2025-03-04T08:04:15Z

← Older revision		Revision as of 10:04, 4 March 2025
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	mosquitto_pub -h 10.197.218.81 -t robobot/cmd/T0/sub -m "ir 300"		mosquitto_pub -h 10.197.218.81 -t robobot/cmd/T0/sub -m "ir 300"
	mosquitto_sub -h 10.197.218.81 -v -t robobot/drive/T0/#		mosquitto_sub -h 10.197.218.81 -v -t robobot/drive/T0/#

			The used options are: ''-h'' for host, ''-t'' for topic and ''-m'' for message.

	Many other MQTT apps can be used too.		Many other MQTT apps can be used too.

Jca: /* MQTT */

2025-03-04T08:03:03Z

MQTT

← Older revision		Revision as of 10:03, 4 March 2025
Line 15:		Line 15:

	Many other MQTT apps can be used too.		Many other MQTT apps can be used too.

			The ''MQTT-explorer'' can be recommended, and is available on all platforms. see: http://mqtt-explorer.com/

	== Robobot ==		== Robobot ==

Jca: /* Command topics to Teensy_interface */

2025-03-01T18:52:08Z

Command topics to Teensy_interface

← Older revision		Revision as of 20:52, 1 March 2025
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	1738498852.2016 0 drive robobot/cmd/ti/alive 2025-02-02 13:20:50.861066		1738498852.2016 0 drive robobot/cmd/ti/alive 2025-02-02 13:20:50.861066
	1738498857.8342 0 drive robobot/cmd/ti/log 0		1738498857.8342 0 drive robobot/cmd/ti/log 0

			The first 3 columns are added by the ''teensy_interface'' logger, the rest is topic and message.

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