fiware-ros-turtlesim

This ros package acts as a bridge between FIWARE and ROS through MQTT.

Description

command_sender

This ROS node receives a command from FIWARE 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

$ 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.

2. open a terminal and start roscore.

   terminal1:$ cd ~/ros_ws
   terminal1:$ source devel/setup.bash
   terminal1:$ roscore

3. open another terminal and start turtlesim.

   terminal2:$ cd ~/ros_ws
   terminal2:$ source devel/setup.bash
   terminal2:$ rosrun turtlesim turtlesim_node

4. configure config/params.yaml

   • set mqtt.host and mqtt.port
   • If necessary, set mqtt.cafile, mqtt.sername and mqtt.password

5. open another terminal and start fiware-ros-turtlesim.

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

License

Apache License 2.0

Copyright

Copyright (c) 2018 TIS Inc.