diff --git a/communication.md b/communication.md index 5321a6cb99d44fe8dd88ada5be8fd61d0438ee15..248be4a4ebbe1fc18d579b182a6f3f5a59f536f6 100644 --- a/communication.md +++ b/communication.md @@ -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: