QUESTION : Is it possible to have multiple nodes ?

[ogensyts]

Hi,

First of all, I want to thank the developpers who made this. Awesome functionnality and works very well.

My question is :
For example, I have two wifi connected robots which I want to use mqtt_bridge with. For now, everything works for the single node that I use, but I wonder if it is possible to have 2 nodes connected to ROS with mqtt_bridge?

Regards,
ogensyts

[ogensyts]

Yes you can.

Create 2 launch files with different node names and proceed normally. You just have to organize your mqtt topics accordingly.

Example of mqtt topics structure:
For robot 1:
robot1/position/x
robot1/position/y
robot1/position/z

For robot 2:
robot2/position/x
robot2/position/y
robot2/position/z