Running without Docker

[ainhoaarnaiz]

Hi,

I have tried to run it without Docker, but this is the output I get:

The topics are getting published on ROS2 but not on MQTT. Apparently, is not connecting to the MQTT broker.

Steps to follow: Ubuntu 22.04 ROS2 Humble

Packages in workspace:

Execution:

• Start Mosquitto broker with Docker (T1): docker run --rm --network host --name mosquitto eclipse-mosquitto
• Launch TurtleBot 3 simulation (T2): export TURTLEBOT3_MODEL=waffle export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

I manually set the initial pose of the TurtleBot 3

• Launch connector tb3 (T3): ros2 launch vda5050_tb3_adapter connector_tb3.launch.py

However, if I just run: ros2 launch vda5050_connector mqtt_bridge.launch.py, this happens:

Any clue? Thank you very much!

[leandropineda]

Hi!

I think it's just a configuration issue. The example is docker based so by default it will try to reach the MQTT broker by using mosquitto hostname instead of localhost: https://github.com/inorbit-ai/vda5050_adapter_examples/blob/galactic-devel/vda5050_tb3_adapter/config/connector_tb3.yaml#L3.

When you launch it from the mqtt_bridge launch file it uses localhost instead: https://github.com/inorbit-ai/ros_amr_interop/blob/humble-devel/vda5050_connector/config/connector_example.yaml#L3.

[ainhoaarnaiz]

Hi! Thank you, that worked perfectly!