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lrs2
lrs_doc
Commits
da30ce60
Commit
da30ce60
authored
3 years ago
by
Tommy Persson
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Work on ROS2
parent
bf67aa18
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communication.md
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da30ce60
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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
...
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@@ -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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