remove remaining ros2 references

Author: lreiher

.github/workflows/docker-ros.yml

@@ -12,7 +12,7 @@ jobs:
           platform: amd64,arm64
           target: run
           base-image: rwthika/ros2:humble
-          command: ros2 launch mqtt_client standalone.launch.ros2.xml
+          command: ros2 launch mqtt_client standalone.launch.xml
           image-tag: humble
           rmw-implementation: rmw_zenoh_cpp
 
@@ -24,7 +24,7 @@ jobs:
           platform: amd64,arm64
           target: run
           base-image: rwthika/ros2:jazzy
-          command: ros2 launch mqtt_client standalone.launch.ros2.xml
+          command: ros2 launch mqtt_client standalone.launch.xml
           image-tag: jazzy
           enable-push-as-latest: 'true'
           rmw-implementation: rmw_zenoh_cpp
@@ -37,7 +37,7 @@ jobs:
           platform: amd64,arm64
           target: run
           base-image: rwthika/ros2:kilted
-          command: ros2 launch mqtt_client standalone.launch.ros2.xml
+          command: ros2 launch mqtt_client standalone.launch.xml
           image-tag: kilted
           rmw-implementation: rmw_zenoh_cpp
 
@@ -49,6 +49,6 @@ jobs:
           platform: amd64,arm64
           target: run
           base-image: rwthika/ros2:rolling
-          command: ros2 launch mqtt_client standalone.launch.ros2.xml
+          command: ros2 launch mqtt_client standalone.launch.xml
           image-tag: rolling
           rmw-implementation: rmw_zenoh_cpp

.gitlab-ci.yml

@@ -19,7 +19,7 @@ ros2:
   variables:
     IMAGE_TAG: ros2
     BASE_IMAGE: rwthika/ros2:latest
-    COMMAND: ros2 launch mqtt_client standalone.launch.ros2.xml
+    COMMAND: ros2 launch mqtt_client standalone.launch.xml
     PLATFORM: amd64,arm64
     TARGET: dev,run
     ENABLE_INDUSTRIAL_CI: 'true'

README.md

@@ -52,7 +52,6 @@ colcon build --packages-up-to mqtt_client --cmake-args -DCMAKE_BUILD_TYPE=Releas
 *mqtt_client* is also available as a Docker image, containerized through [*docker-ros*](https://github.com/ika-rwth-aachen/docker-ros).
 
 ```bash
-# ROS 2
 docker run --rm ghcr.io/ika-rwth-aachen/mqtt_client:latest # or distro-specific tags, e.g., :rolling
 ```
 
@@ -79,7 +78,7 @@ For a more advanced setup of your own broker, check out our instructions for run
 
 #### Demo Configuration
 
-The *mqtt_client* is best configured with a ROS parameter *yaml* file. The configuration shown below (also see [`params.yaml`](mqtt_client/config/params.yaml) / [`params.ros2.yaml`](mqtt_client/config/params.ros2.yaml)) allows an exchange of messages as follows:
+The *mqtt_client* is best configured with a ROS parameter *yaml* file. The configuration shown below (also see [`params.yaml`](mqtt_client/config/params.yaml) / [`params.yaml`](mqtt_client/config/params.yaml)) allows an exchange of messages as follows:
 
 - ROS messages received locally on ROS topic `/ping/ros` are sent to the broker on MQTT topic `pingpong/ros`;
 - MQTT messages received from the broker on MQTT topic `pingpong/ros` are published locally on ROS topic `/pong/ros`;
@@ -110,7 +109,7 @@ bridge:
 Launch the *mqtt_client* node with the pre-configured demo parameters:
 
 ```bash
-ros2 launch mqtt_client standalone.launch.ros2.xml
+ros2 launch mqtt_client standalone.launch.xml
 ```
 
 ```txt
@@ -145,9 +144,8 @@ ros2 topic echo /pong/ros
 In order to test the communication between *mqtt_client* and other MQTT clients, publish a primitive ROS message on ROS topic `/ping/primitive`, directly publish a primitive MQTT message on MQTT topic `pingpong/primitive` and wait for responses on ROS topic `/pong/primitive`. Note that you need to restart the ROS 2 *mqtt_client* with a different config file.
 
 ```bash
-# ROS 2
 # mqtt_client$
-ros2 launch mqtt_client standalone.launch.ros2.xml params_file:=$(ros2 pkg prefix mqtt_client)/share/mqtt_client/config/params.ros2.primitive.yaml
+ros2 launch mqtt_client standalone.launch.xml params_file:=$(ros2 pkg prefix mqtt_client)/share/mqtt_client/config/params.primitive.yaml
 ```
 
 ```bash
@@ -172,13 +170,13 @@ If everything works as expected, the second terminal should print a message at 1
 You can start the *mqtt_client* node with:
 
 ```bash
-ros2 launch mqtt_client standalone.launch.ros2.xml
+ros2 launch mqtt_client standalone.launch.xml
 ```
 
-This will automatically load the provided demo [`params.yaml`](mqtt_client/config/params.yaml) / [`params.ros2.yaml`](mqtt_client/config/params.ros2.yaml). If you wish to load your custom configuration file, simply pass `params_file`.
+This will automatically load the provided demo [`params.yaml`](mqtt_client/config/params.yaml) / [`params.yaml`](mqtt_client/config/params.yaml). If you wish to load your custom configuration file, simply pass `params_file`.
 
 ```bash
-ros2 launch mqtt_client standalone.launch.ros2.xml params_file:="</PATH/TO/PARAMS.YAML>"
+ros2 launch mqtt_client standalone.launch.xml params_file:="</PATH/TO/PARAMS.YAML>"
 ```
 
 In order to exploit the benefits of *mqtt_client* being a ROS 2 component, load the component into your own component container.
@@ -227,8 +225,6 @@ client:
 
 #### Bridge Parameters
 
-##### ROS 2
-
 ```yaml
 bridge:
   ros2mqtt:                # Object specifying which ROS topics to map to which MQTT topics
@@ -298,27 +294,25 @@ ros2 run rqt_plot rqt_plot /<mqtt_client_name>/latencies/<mqtt2ros/ros_topic>/da
 
 This short package summary documents the package in line with the [ROS Wiki Style Guide](http://wiki.ros.org/StyleGuide).
 
-### ROS 2
-
-#### Components
+### Components
 
-##### `mqtt_client/MqttClient`
+#### `mqtt_client/MqttClient`
 
 Enables connected ROS-based devices or robots to exchange ROS messages via an MQTT broker using the [MQTT](http://mqtt.org) protocol.
 
-###### Subscribed Topics
+##### Subscribed Topics
 
 - `<bridge/ros2mqtt/ros_topic>` ([`rclcpp::SerializedMessage`](https://docs.ros.org/en/ros2_packages/rolling/api/rclcpp/generated/classrclcpp_1_1GenericSubscription.html))
   ROS topic whose messages are transformed to MQTT messages and sent to the MQTT broker. May have arbitrary ROS message type.
 
-###### Published Topics
+##### Published Topics
 
 - `<bridge/mqtt2ros/ros_topic>` ([`rclcpp::SerializedMessage`](https://docs.ros.org/en/ros2_packages/rolling/api/rclcpp/generated/classrclcpp_1_1GenericPublisher.html))
   ROS topic on which MQTT messages received from the MQTT broker are published. May have arbitrary ROS message type.
 - `~/latencies/<bridge/mqtt2ros/ros_topic>` ([`std_msgs/Float64`](https://docs.ros.org/en/api/std_msgs/html/msg/Float64.html))
   Latencies measured on the message transfer to `<bridge/mqtt2ros/ros_topic>` are published here, if the received messages have a timestamp injected (see [Latency Computation](#latency-computation)).
 
-###### Services
+##### Services
 
 - `~/is_connected` ([`mqtt_client/srv/IsConnected`](mqtt_client_interfaces/srv/IsConnected.srv))
   Returns whether the client is connected to the MQTT broker.
@@ -329,9 +323,7 @@ Enables connected ROS-based devices or robots to exchange ROS messages via an MQ
 - `~/new_mqtt2ros_bridge` ([`mqtt_client/srv/NewMqtt2RosBridge`](mqtt_client_interfaces/srv/NewMqtt2RosBridge.srv))
   Returns whether a new MQTT -> ROS bridge was created.
 
-
-
-###### Parameters
+##### Parameters
 
 See [Configuration](#configuration).
 

mqtt_client/CMakeLists.txt

@@ -19,7 +19,7 @@ find_package(std_msgs REQUIRED)
 find_library(PahoMqttC_LIBRARY libpaho-mqtt3as.so.1 REQUIRED)
 find_library(PahoMqttCpp_LIBRARY libpaho-mqttpp3.so.1 REQUIRED)
 
-add_library(${PROJECT_NAME}_lib SHARED src/MqttClient.ros2.cpp)
+add_library(${PROJECT_NAME}_lib SHARED src/MqttClient.cpp)
 
 rclcpp_components_register_node(${PROJECT_NAME}_lib
   PLUGIN "mqtt_client::MqttClient"

mqtt_client/config/params.aws.yaml

@@ -1,49 +1,52 @@
-# YAML alias for MQTT SSL version.
-# The supported values are defined at:
-# https://github.com/eclipse/paho.mqtt.cpp/blob/master/src/mqtt/ssl_options.h#L305
-tls_1_2: &tls_1_2 3
-
-broker:
-  # YOU MUST CHANGE THIS ENDPOINT
-  # Can be found by executing: aws iot describe-endpoint --endpoint-type iot:Data-ATS
-  host: not-a-real-endpoint-please-use-your-own.us-west-2.amazonaws.com
-  port: 8883
-  tls:
-    enabled: true
-    # Available at https://www.amazontrust.com/repository/AmazonRootCA1.pem
-    ca_certificate: path/to/AmazonRootCA1.pem
-client:
-  id: user
-  # Whether or not to start a clean session with each reconnect.
-  # If True, the server will forget all subscriptions with each reconnect.
-  # Set False to request that the server resume an existing session or start
-  # a new session that may be resumed after a connection loss.
-  clean_session: false
-  # The keep alive value, in seconds, to send in CONNECT packet.
-  keep_alive_interval: 6.0
-  tls:
-    # The certificate generated by the AWS IoT Core service
-    certificate: path/to/a-certificate.pem
-    # The private key generated by the AWS IoT Core service
-    key: path/to/a-private-key.pem
-    # AWS uses TLS v1.2 to encrypt all communication.
-    version: *tls_1_2
-    verify: true
-    # https://www.openssl.org/docs/man1.1.1/man3/SSL_CTX_set_alpn_protos.html
-    alpn_protos:
-      # MQTT over AWS IOT requires an ALPN protocol negotiation.
-      # https://docs.aws.amazon.com/iot/latest/developerguide/protocols.html
-      - x-amzn-mqtt-ca
-  buffer:
-    enabled: true
-bridge:
-  # NOTE: It seems that AWS IOT only supports primitive topics. Using non-primitive
-  # types results in the error message `Connection to broker lost, will try to reconnect...`
-  ros2mqtt:
-    - ros_topic: /ping/primitive
-      mqtt_topic: pingpong/primitive
-      primitive: true
-  mqtt2ros:
-    - mqtt_topic: pingpong/primitive
-      ros_topic: /pong/primitive
-      primitive: true
+/**/*:
+  ros__parameters:
+    broker:
+      # YOU MUST CHANGE THIS ENDPOINT
+      # Can be found by executing: aws iot describe-endpoint --endpoint-type iot:Data-ATS
+      host: not-a-real-endpoint-please-use-your-own.us-west-2.amazonaws.com
+      port: 8883
+      tls:
+        enabled: true
+        # Available at https://www.amazontrust.com/repository/AmazonRootCA1.pem
+        ca_certificate: path/to/AmazonRootCA1.pem
+    client:
+      id: user
+      # Whether or not to start a clean session with each reconnect.
+      # If True, the server will forget all subscriptions with each reconnect.
+      # Set False to request that the server resume an existing session or start
+      # a new session that may be resumed after a connection loss.
+      clean_session: false
+      # The keep alive value, in seconds, to send in CONNECT packet.
+      keep_alive_interval: 6.0
+      tls:
+        # The certificate generated by the AWS IoT Core service
+        certificate: path/to/a-certificate.pem
+        # The private key generated by the AWS IoT Core service
+        key: path/to/a-private-key.pem
+        # AWS uses TLS v1.2 to encrypt all communication.
+        # The supported values are defined at:
+        # https://github.com/eclipse/paho.mqtt.cpp/blob/master/src/mqtt/ssl_options.h#L305
+        version: 3 # TLS v1.2
+        verify: true
+        # https://www.openssl.org/docs/man1.1.1/man3/SSL_CTX_set_alpn_protos.html
+        alpn_protos:
+          # MQTT over AWS IOT requires an ALPN protocol negotiation.
+          # https://docs.aws.amazon.com/iot/latest/developerguide/protocols.html
+          - x-amzn-mqtt-ca
+      buffer:
+        enabled: true
+    bridge:
+      # NOTE: It seems that AWS IOT only supports primitive topics. Using non-primitive
+      # types results in the error message `Connection to broker lost, will try to reconnect...`
+      ros2mqtt:
+        ros_topics: 
+          - /ping/primitive
+        /ping/primitive:
+          mqtt_topic: pingpong/primitive
+          primitive: true
+      mqtt2ros:
+        mqtt_topics: 
+          - pingpong/primitive
+        pingpong/primitive:
+          ros_topic: /pong/primitive
+          primitive: true