Reading joint states with an MQTT client from a Mosquitto MQTT broker 🦟
Install an MQTT Client
- Install a mosquitto 🦟 client for example MQTTX
Connect to the WIFI
Connect to the same WI-FI the MQTT-Broker is in.
In our case the WI-FI's name is 'ROOM_240'
In our case the device running the broker is an RaspberryPi 🍓with the IP 192.168.0.168
Subscribe to a topic via your MQTT client
- Setup a new connection by clicking ➕ :
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.
Click on "connect" and you'll see the joint positions coming in and constantly updated! 
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