# Controlling the robot via MQTT and Python 🐍



# Reading joint states with an MQTT client from a Mosquitto MQTT broker 🦟

<details id="bkmrk-install-an-mqtt-clie"><summary>Install an MQTT Client</summary>

1. Install a mosquitto 🦟 client for example **[MQTTX](https://mqttx.app/downloads)**

</details><details id="bkmrk-connect-to-the-wifi-"><summary>Connect to the WIFI</summary>

 Connect to the same WI-FI the MQTT-Broker is in.

<p class="callout info">In our case the WI-FI's name is '**ROOM\_240**'</p>

<p class="callout info">In our case the device running the broker is an RaspberryPi 🍓with the IP **192.168.0.168**</p>

</details><details id="bkmrk-subscribe-to-a-topic"><summary>Subscribe to a topic via your MQTT client</summary>

1. Setup a new connection by clicking ➕ : <table border="1" style="border-collapse: collapse; width: 100%;"><colgroup><col style="width: 50%;"></col><col style="width: 50%;"></col></colgroup><tbody><tr><td>Setup a new connection to a "broker" in our case this is the Raspberry Pi 🍓 connected to the Robot.
    
    Provide a name and leave the username and password fields blank.
    
    </td><td>[![image.png](https://wiki.kisdtegg.de/uploads/images/gallery/2023-10/scaled-1680-/xRdimage.png)](https://wiki.kisdtegg.de/uploads/images/gallery/2023-10/xRdimage.png)
    
    </td></tr><tr><td>Click on "connect" and you'll see the joint positions coming in and constantly updated!</td><td>[![image.png](https://wiki.kisdtegg.de/uploads/images/gallery/2023-11/scaled-1680-/image.png)](https://wiki.kisdtegg.de/uploads/images/gallery/2023-11/image.png)
    
    </td></tr></tbody></table>

</details>