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Commit da30ce60 authored by Tommy Persson's avatar Tommy Persson
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Work on ROS2

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......@@ -57,9 +57,9 @@ When using an MQTT broker to communicate between ROS2 agents (and also
between ROS1 and ROS2 agents) there are two programs running on the
ROS2 agent:
- **mqtt_to_ros**: This programs connect to the broker and push ut the ROS
messages it receives from the MQTT topics.
- ros_to_mqtt: This program listen to ROS2 messages and push them on
- **mqtt_to_ros**: This programs connect to the broker and decode the JSON encoded ROS
messages it receives from the MQTT topics and push them out on ROS topics.
- **ros_to_mqtt**: This program listen to ROS2 messages and push them on
the relevant MQTT topic as JSON strings. Note that ROS2 messages
from mqtt_to_ros is filtered away (THIS MIGHT NOT BE POSSIBLE!!!). Also this program can be
configured to reduce the number of messages it sends by having a
......@@ -75,7 +75,7 @@ The MQTT topic is built up in the following way:
- channel
- ext
- ROS topic
- receiver
- receiver : ALL or namespace for unit/agent
For example:
......
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