NCRL_MQTT

Server





$ cd /etc/mosquitto
$ vim mosquitto.conf
# 修改完後，重起服務
$ sudo systemctl status mosquitto

Client

Client OS ubuntu 20.04

Client OS not ubuntu 20.04

1. Prerequisites





For Linux  : $ sudo apt-get install docker.io
For Rpi    : $ curl -fsSL https://get.docker.com/ | sh
# 打完下面這行要logout
$ sudo usermod -aG docker ${使用者名稱}
  • download ncrl_mqtt repo








$ cd
# download repo for docker usage
$ git clone https://github.com/leeandy0822/ncrl_mqtt.git
$ cd ncrl_mqtt
# run docker
$ source docker_run.sh
#catkin_make and load env parameters
$ source env.sh

2. 更改 broker host IP




$ roscd mqtt_client
$ cd launch
$ vim params.yaml

3. Enable the mqtt_ros service

$ roslaunch mqtt_client standalone.launch

4. Check the ros topics

ROS Input MQTT ROS_Output
/ping/ros /pingpong/ros /pong/ros
/ping/primitive /pingpong/primitive /pong/primitive

Authorization

1. broker 端新增 password file

  • move to /etc/mosquito








$ cd /etc/mosquito
# 新增一個 password file
$ sudo mosquitto_passwd -c <password file name> <name>
# example
$ sudo mosquitto_passwd -c password ncqq
# 打密碼和確認密碼（這裡設定ee405423）
$ vim password
# username:log

2. 重啟 broker 端 server

$ sudo service mosquitto restart

3. 所有 client 都要新增 password 設定

  • 開啟 mqtt_client/launch/params.yaml




$ cd ws/src/mqtt_client/launch
$ vim params.yaml 
# 在 broker 下面新增 user: 和 pass:
# 帳號密碼要與上面password file 一致

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