ROS cmd_vel MQTT bridge

Introduction

A ROS package to use any mqtt broker for storing the /cmd_vel topic. Uses the paho_mqtt client package.

This topic can then be used subscribed by any MQTT client. Useful for resource constrained IoT Robots .

Setup

Requires ROS (A guide for installation can be found here)

How to build

$ cd /path/to/ws/src
$ git clone <this repository>
$ cd ..
$ rosdep install --from-paths src --ignore-src -r -y --reinstall
$ catkin_make
$ source ./devel/setup.sh

Usage

$ roslaunch cmd_vel_mqtt cmd_vel_pub.launch

For example you can use this along with the teleop_twist_keyboard package for keyboard control.

$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Work in progress.