Robobot MQTT topics

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 uses MQTT

The MQTT server connects the Teensy_interface with the behaviour part of the robot.

Data messages mainly originate from the Teensy firmware, where data can be subscribed.

All used topics start with the keyword robobot/<\code>. The #<\code> is a wildcard that matches all sub-topics.

topic: robobot/drive/#

The sub-topic robobot/drive/<\code> is used for all data messages sourced by the teensy_interface (data from the drive function).