Robobot MQTT topics: Difference between revisions
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The MQTT server connects the Teensy_interface with the behaviour part of the robot. | The MQTT server connects the Teensy_interface with the behaviour part of the robot. | ||
=== Data topics === | === Data topics (from firmware) === | ||
Data messages mainly originate from the Teensy firmware, where data can be subscribed. | Data messages mainly originate from the Teensy firmware, where data can be subscribed. | ||
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The sub-topic <code>robobot/drive/</code> is used for all data messages sourced by the teensy_interface (data from the drive function and generated by the first (and only) Teensy <code>T0</code>). | The sub-topic <code>robobot/drive/</code> is used for all data messages sourced by the teensy_interface (data from the drive function and generated by the first (and only) Teensy <code>T0</code>). | ||
==== Data messages ==== | |||
All data types described in [[ ]] | |||
Revision as of 08:53, 15 February 2025
Back to Robobot
MQTT
MQTT (Message Queuing Telemetry Transport) is a lightweight protocol that transports messages between processes and networks.
The used MQTT server is Mosquitto from https://mosquitto.org/
The interface library used in both the Teensy_interface and the MQTT_client is paho-mqtt: https://eclipse.dev/paho/files/paho.mqtt.python/html/index.html
Robobot
Robobot uses MQTT
The MQTT server connects the Teensy_interface with the behaviour part of the robot.
Data topics (from firmware)
Data messages mainly originate from the Teensy firmware, where data can be subscribed.
- topic: robobot/#
All used topics start with the keyword robobot/. The # is a wildcard that matches all sub-topics.
- topic: robobot/drive/T0/#
The sub-topic robobot/drive/ is used for all data messages sourced by the teensy_interface (data from the drive function and generated by the first (and only) Teensy T0).
Data messages
All data types described in [[ ]]
