MQTT Integration

The ADORe CLI bundles Eclipse Mosquitto and associated Python client libraries, along with a ROS bridge node for bidirectional topic bridging between ROS and MQTT.

Bridge Node

The MQTT message bridge node is located at:

ros2_workspace/src/adore_interfaces/mqtt_message_bridge

It subscribes and publishes to configured ROS topics, forwarding messages to and from an MQTT broker. The broker can be a remote instance or a local one managed by the CLI.

Default Behavior

The bridge node and optional MQTT broker do not start automatically by default. Both are enabled via adore.env.

Configuration

File	Purpose
mqtt_bridge_config.yaml	Define which ROS topics to bridge and their MQTT mappings
adore.env	Enable the bridge and broker services at startup; configure remote broker connection parameters (host, port, credentials)

Further Reading

See ros2_workspace/src/adore_interfaces/mqtt_message_bridge/README.md for full integration details.