uav_ros_bridge

Uav communication over mqtt

Installation

First install following prerequisites in your catkin workspace:

cd ~/catkin_ws/src
git clone git@github.com:larics/mqtt_bridge.git
cd mqtt_bridge
git checkout 0.1.7
catkin build

Clone this package in your catkin workspace and build.

cd ~/catkin_ws/src
git clone git@github.com:larics/uav_ros_bridge.git
catkin build uav_ros_bridge

Running

Demo mqtt

To start demo simply run:

rosrun uav_ros_bridge demo.launch

This launch file sends only one topic over mqtt server. To start the broadcast publish following:

rostopic pub -r 20 /uav/pose geometry_msgs/Pose "position:
  x: 0.0
  y: 0.0
  z: 0.0
orientation:
  x: 0.0
  y: 0.0
  z: 0.0
  w: 1.0"

Video streaming

Install following packages to use the video stream:

cd ~/catkin_ws
git clone https://github.com/larics/web_video_server.git
git clone https://github.com/larics/async_web_server_cpp.git
cd async_web_server_cpp
git checkout noetic-devel
catkin build web_video_server async_web_server_cpp

To run the video stream, simply run:

rosrun web_video_server web_video_server

Go to your browser and connect to localhost:8080, or <machine_ip>:8080 if you are connecting from another device. All raw image topics will be listed. If you want to connect to a compressed image topic, go to following in your browser: http://localhost:8080/stream?topic=/usb_cam/image_raw&type=ros_compressed

Use the compressed image to limit the bandwidth.

Useful stuff

To view the mqtt messages sent through the system, you can use mqtt_explorer.