Question 1

How to set up custom serialization in mqtt_bridge?

Accepted Answer

You can configure it in the YAML file by specifying serializer and deserializer parameters, such as using 'json:dumps' and 'json:loads' for JSON format instead of the default MessagePack, allowing flexibility in data encoding.

Question 2

mqtt_bridge vs mqtt_client for ROS - which is better?

Accepted Answer

mqtt_bridge is a Python-based, configurable solution that's no longer maintained, while mqtt_client is a high-performance C++ nodelet with active development. Choose mqtt_bridge for quick prototyping, but mqtt_client for production or performance-critical systems.

Question 3

Can mqtt_bridge handle non-ROS MQTT messages?

Accepted Answer

By default, no—it requires ROS message compatibility. However, you can create custom bridge classes by inheriting from the base Bridge class to process non-standard formats, though this adds development effort.

Question 4

What are the installation prerequisites for mqtt_bridge?

Accepted Answer

You need Python 3, ROS packages like ros-noetic-rosbridge-library, and MQTT tools such as mosquitto, as listed in the demo prerequisites, which can be cumbersome for non-ROS environments.

Question 5

How to secure MQTT connections with TLS in mqtt_bridge?

Accepted Answer

Configure TLS settings under the 'tls' subsection in the MQTT parameters of the YAML file, allowing you to specify certificates and keys for encrypted communication, similar to standard paho MQTT client setup.

Question 6

Is mqtt_bridge suitable for real-time robotics?

Accepted Answer

Due to its Python implementation and serialization overhead, it's not ideal for hard real-time applications; consider alternatives like mqtt_client for lower latency and better performance in time-sensitive scenarios.

mqtt_bridge

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