Robobot MQTT topics

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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

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/#

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