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MQTT Communication Setup and Usage Guide

1. Install Dependencies

To enable MQTT communication, install the necessary system dependencies using apt:

sudo add-apt-repository universe
sudo apt update
sudo apt install \
  build-essential \
  cmake \
  mosquitto \
  mosquitto-clients \
  libpaho-mqttpp-dev \
  libpaho-mqtt-dev \
  nlohmann-json3-dev

Alternative: Build MQTT Libraries from Source

If you prefer or need to compile the MQTT libraries manually:

Build C Library:

git clone https://github.com/eclipse/paho.mqtt.c.git
cd paho.mqtt.c
mkdir build && cd build
cmake -DPAHO_BUILD_STATIC=ON -DPAHO_ENABLE_TESTING=OFF ..
make
sudo make install

Build C++ Library:

git clone https://github.com/eclipse/paho.mqtt.cpp.git
cd paho.mqtt.cpp
mkdir build && cd build
cmake ..
make
sudo make install

2. Launch the MQTT Broker

Run Mosquitto in verbose mode:

sudo apt install mosquitto
mosquitto -v

3. Run ctrl_station Package

Use the following commands to launch MQTT client utilities:

ros2 run ctrl_station mqtt_client
ros2 run ctrl_station terminal
ros2 run ctrl_station cmd_dispatcher

4. Build and Run mqtt_server from json_utils Repo

git clone "https://bitbucket.org/isme_robotics/json_utils/src/marco_branch/"
git checkout marco_branch
mkdir build && cd build
cmake ..
sudo make install

Then launch the server:

./mqtt_server

5. How to Use the System

  • In the mqtt_server terminal, follow the on-screen menu to input desired latitude and longitude. These values will be automatically sent to the system.
  • In the main terminal, select the TBM you want to operate.
  • After setup, issue the mission command to the Vectored BlueAUV from the main terminal.
  • Repeat the above steps to run multiple tests as needed.

6. Modifying Mission Configuration

To change mission-related settings such as the buoy area or pipeline configuration, edit the config file:

/ctrl_station/conf/config.yaml

Note: Although a similar config exists in the mission_ctrl node, it may not load correctly due to known issues.