=============================== |package name| =============================== :ir_github:` <>` Overview ^^^^^^^^ The launch script, under the launch directory, brings up the MQTT bridge nodes and the VDA5050 Nav2 Client node. .. toctree:: /concepts/missions/isaac_ros_mission_client.rst Usage ^^^^^^ .. code-block:: bash ros2 launch isaac_ros_vda5050_nav2_client_bringup isaac_ros_vda5050_client.launch.py namespace:=<"namespace for ros graph"> mqtt_host_name:=<"mqtt_host_name"> mqtt_transport:=<"mqtt_transport"> mqtt_pub_topic:=<"mqtt_pub_topic"> ros_subscriber_type:=<"ros_subscriber_type"> ros_to_mqtt_name:=<"ros_to_mqtt_name"> mqtt_sub_topic:=<"mqtt_sub_topic"> ros_publisher_type:=<"ros_publisher_type"> mqtt_to_ros_name:=<"mqtt_to_ros_name"> ROS Parameters ^^^^^^^^^^^^^^^ ======================== =========== ============================= ===== ============================================================================================================================================================== ROS Parameter Type Default Description ======================== =========== ============================= ===== ============================================================================================================================================================== ``namespace`` ``string`` ``(Empty string)`` The ROS namespace used for the ROS graph. e.g. `carter` ``mqtt_host_name`` ``string`` ``localhost`` The MQTT broker IP to connect to. e.g. `192.168.25.32` ``mqtt_port`` ``string`` ``1883`` The MQTT broker port ``mqtt_transport`` ``string`` ``tcp`` The protocol to use for sending MQTT messages (either `tcp` or `websockets`) ``mqtt_ws_path`` ``string`` ``''`` The path for the WebSocket if the protocol set in `mqtt_transport` is `websockets` ``mqtt_pub_topic`` ``string`` ``/uagv/v1/carter01/state`` The MQTT topic to publish MQTT messages ``mqtt_sub_topic`` ``string`` ``/uagv/v1/carter01/order`` The MQTT topic to subscribe for incoming MQTT messages ``ros_publisher_type`` ``string`` ``vda5050_msgs/Order`` The ROS message type to convert incoming MQTT messages to ``ros_subscriber_type`` ``string`` ``vda5050_msgs/AGVState`` The ROS message type that outgoing MQTT message are converted from ``ros_to_mqtt_name`` ``string`` ``Carter01_RosToMqttBridge`` The MQTT client name for the RosToMqtt Node ``mqtt_to_ros_name`` ``string`` ``Carter01_MqttToRosBridge`` The MQTT client name for the MqttToRos Node ``retry_forever`` ``bool`` ``true`` Retry connecting forever if connection to MQTT message broker is not established ``reconnect_period`` ``int`` ``5`` The period of time to wait before retrying to connect to MQTT message broker (in seconds) ``num_retries`` ``int`` ``10`` The number of reconnection retries to connect to the MQTT message broker before giving up. This setting is only valid if ``retry_forever`` is set to ``false`` ``ros_recorder`` ``bool`` ``false`` Launches ``isaac_ros_scene_recorder``_ if set to ``true`` ======================== =========== ============================= ===== ============================================================================================================================================================== .. |package name| replace:: Isaac ROS Mission Client