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ROS 2 C++ Node for bi-directionally bridging messages between ROS and MQTT
| Date | Stars |
|---|---|
| 2026-07-24 | 288 |
| 2026-07-25 | 288 |
| 2026-07-28 | 288 |
| 2026-07-30 | 288 |
| 2026-08-06 | 288 |
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35.0
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# mqtt_client <p align="center"> <img src="https://img.shields.io/github/v/release/ika-rwth-aachen/mqtt_client"/></a> <img src="https://img.shields.io/github/license/ika-rwth-aachen/mqtt_client"/></a> <a href="https://github.com/ika-rwth-aachen/mqtt_client/actions/workflows/docker-ros.yml"><img src="https://github.com/ika-rwth-aachen/mqtt_client/actions/workflows/docker-ros.yml/badge.svg"/></a> <img src="https://img.shields.io/badge/ROS 2-humble|jazzy|kilted|lyrical|rolling-293754"/> <a href="https://github.com/ika-rwth-aachen/mqtt_client"><img src="https://img.shields.io/github/stars/ika-rwth-aachen/mqtt_client?style=social"/></a> </p> The *mqtt_client* package provides a ROS 2 component node that enables connected ROS-based and non-ROS-based devices or robots to exchange ROS messages via an MQTT broker using the [MQTT](http://mqtt.org) protocol. This works generically for arbitrary ROS message types. The *mqtt_client* can also exchange primitive messages or messages formatted as JSON with MQTT clients running on devices not based on ROS. > [!IMPORTANT] > This repository is open-sourced and maintained by the [**Institute for Automotive Engineering (ika) at RWTH Aachen University**](https://www.ika.rwth-aachen.de/). > **V2X Communication** is one of many research topics within our [*Vehicle Intelligence & Automated Driving*](https://www.ika.rwth-aachen.de/en/competences/fields-of-research/vehicle-intelligence-automated-driving.html) domain. > If you would like to learn more about how we can support your automated driving or robotics efforts, feel free to reach out to us! > :email: ***[email protected]*** - [Installation](#installation) - [docker-ros](#docker-ros) - [Usage](#usage) - [Quick Start](#quick-start) - [Launch](#launch) - [Configuration](#configuration) - [JSON Messages](#json-messages) - [Primitive Messages](#primitive-messages) - [Latency Computation](#latency-computation) - [Package Summary](#package-summary) - [Acknowledgements](#acknowledgements) ## Installation The *mqtt_client* package is released as an official ROS 2 package and can easily be installed via a package manager. ```bash sudo apt update sudo apt install ros-$ROS_DISTRO-mqtt-client ``` If you would like to install *mqtt_client* from source, simply clone this repository into your ROS 2 workspace. All dependencies that are listed in the ROS [`package.xml`](package.xml) can be installed using [*rosdep*](http://wiki.ros.org/rosdep). ```bash # mqtt_client$ rosdep install -r --ignore-src --from-paths . # workspace$ colcon build --packages-up-to mqtt_client --cmake-args -DCMAKE_BUILD_TYPE=Release ``` ### docker-ros *mqtt_client* is also available as a Docker image, containerized through [*docker-ros*](https://github.com/ika-rwth-aachen/docker-ros). ```bash docker run --rm ghcr.io/ika-rwth-aachen/mqtt_client:latest # or distro-specific tags, e.g., :rolling ``` ## Usage The *mqtt_client* can be easily integrated into an existing ROS-based system. Below, you first find a quick start guide to test the *mqtt_client* on a single machine. Then, more details are presented on how to launch and configure it in more complex applications. ### Quick Start Follow these steps to quickly launch a working *mqtt_client* that is sending ROS messages via an MQTT broker to itself. #### Demo Broker It is assumed that an MQTT broker (such as [*Mosquitto*](https://mosquitto.org/)) is running on `localhost:1883`. For this demo, you may easily launch *Mosquitto* with its default configuration using *Docker*. ```bash docker run --rm --network host --name mosquitto eclipse-mosquitto ``` For a more advanced setup of your own broker, check out our instructions for running an MQTT broker in Docker with enabled authentication and encryption [here](https://github.com/ika-rwth-aachen/mqtt-in-docker). #### Demo Configuration The *mqtt_client* is bes
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