MQTT protocol with ROS and AWS IoT compatible

This package is an adaptation from mqtt_bridge repository and uses AWSIoTPythonSDK instead of paho-mqtt.

Requirements

• AWS account
  • AWS IoT Core project
  • AWS IoT Thing
• Linux 18.04.4 (Bionic Beaver)
• ROS Melodic
• Python 2.7

Cloning the repository

Do the cloning inside your ROS workspace

cd ~/catkin_ws/src
git clone https://github.com/dftossem/mqtt_ros_aws_iot.git

Install requirements

cd mqtt_ros_aws_iot
# Python requirements
pip install .
# ROS package requirements
sudo apt install ros-melodic-rospy-message-converter

Change connection parameters

In the config/params.yaml file change host (endpoint) and certificates. If you have installed the AWS CLI then you can find the host variable by typing in a terminal:

aws iot describe-endpoint --endpoint-type iot:Data-ATS

Test

Build the package

Use catkin to build your ROS workspace

cd ~/catkin_ws
catkin_make

Update source

source ~/catkin_ws/devel/setup.bash

Launch

roslaunch mqtt_ros_aws_iot connect.launch

Verify on AWS IoT Core page

Policy

Login to your AWS account and go to the AWS IoT Core page, be sure to have granted the right access. Warning: Code below accept every connection, be sure to change your policy after testing.

{
  "Version": "2012-10-17",
  "Statement": [
    {
      "Effect": "Allow",
      "Action": [
        "iot:Publish",
        "iot:Subscribe",
        "iot:Receive",
        "iot:Connect"
      ],
      "Resource": "*"
    }
  ]
}

Then, in the Test option set logger/machine as Subscription topic and click the Subscribe to topic button.

Local topic publish

In a new terminal publish the ROS topic

rostopic pub -1 /machine/logger std_msgs/String "data: 'Hello world from local'"

You should see the local topic payload data on the AWS IoT page just like this:

{
  "data": "Hello world from local"
}

Publish topic from AWS IoT Core

In a new terminal type the next command

rostopic echo /aws/sumerian/available

Go to the AWS IoT Core page and in the Test option click on Publish to a topic, set aws/sumerian/available write: true and click Publish to topic

You should see the response on your local machine just like this:

data: True
---