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https://github.com/tech-sketch/fiware-ros-turtlesim

This ros package acts as a bridge between FIWARE and ROS through MQTT.
https://github.com/tech-sketch/fiware-ros-turtlesim

fiware mqtt ros ros-kinetic

Last synced: about 1 month ago
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This ros package acts as a bridge between FIWARE and ROS through MQTT.

Host: GitHub
URL: https://github.com/tech-sketch/fiware-ros-turtlesim
Owner: tech-sketch
License: apache-2.0
Created: 2018-06-05T05:00:31.000Z (about 6 years ago)
Default Branch: master
Last Pushed: 2018-06-06T13:11:43.000Z (about 6 years ago)
Last Synced: 2024-04-14T14:49:16.243Z (3 months ago)
Topics: fiware, mqtt, ros, ros-kinetic
Language: Python
Size: 46.9 KB
Stars: 1
Watchers: 6
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Lists

awesome - Tech Sketch FIWARE-ROS Turtlesim - A [ROS](https://www.ros.org/) package acting as a bridge between FIWARE and ROS through MQTT. (Open-Source FIWARE from third parties / Robotics)

README

# fiware-ros-turtlesim
This ros package acts as a bridge between [FIWARE](https://www.fiware.org) and [ROS](http://wiki.ros.org/) through MQTT.

[![TravisCI Status](https://travis-ci.org/tech-sketch/fiware-ros-turtlesim.svg?branch=master)](https://travis-ci.org/tech-sketch/fiware-ros-turtlesim)

## Description
### `command_sender`
This ROS node receives a command from [FIWARE orion context broker](https://catalogue-server.fiware.org/enablers/publishsubscribe-context-broker-orion-context-broker) through MQTT.

When receiving a command, this node publish a series of `geometry_msgs/Twist` messages to `/turtle1/cmd_vel` topic. By doing so, `turtlesim` moves according to the received command.

### `attribute_receiver`
This ROS node subscribes for `/turtle1/temperature` topic.

When receiving a `std_msgs/Float32` message from its topic, this node publishes the received `temperature` to FIWARE orion context broker through MQTT.

## Requirement

**ROS kinetic**

## Install libraries

```bash
$ cd ~/ros_ws/src
$ git clone https://github.com/tech-sketch/fiware-ros-turtlesim.git
$ cd fiware-ros-turtlesim
$ pip install -r requirements/common.txt
```

## How to Run
1. start X server.
1. open a terminal and start `roscore`.

```bash
terminal1:$ cd ~/ros_ws
terminal1:$ source devel/setup.bash
terminal1:$ roscore
```
1. open another terminal and start `turtlesim`.

```bash
terminal2:$ cd ~/ros_ws
terminal2:$ source devel/setup.bash
terminal2:$ rosrun turtlesim turtlesim_node
```
1. configure `config/params.yaml`

* set `mqtt.host` and `mqtt.port`
* If necessary, set `mqtt.cafile`, `mqtt.sername` and `mqtt.password`
1. open another terminal and start `fiware-ros-turtlesim`.

```bash
terminal3:$ cd ~/ros_ws
terminal3:$ source devel/setup.bash
terminal3:$ roslaunch fiware-ros-turtlesim fiware-ros-turtlesim.launch
```

## License

[Apache License 2.0](/LICENSE)