MQTT Publisher (C++)

Node ID: MqttSink_cpp · Role: Sink · Realtime config: no

Inputs / Outputs

Inputs: Can, FusedPose, FusedVehiclePose, FusedVehiclePoseV2, FusionStateInt, GlobalFusedPose, Gnss, Imu, Optical, Rtcm, VehicleSpeed, VehicleState, VelocityMeter
Outputs: (none)

Config aliases

mqttPublisher_cpp

Properties

No user-facing properties.

Example node definition

A full node definition in config.json looks like the block below. Paste it under the sinks key of your config, keyed by the node’s instance name (any identifier; it doesn’t have to match the node ID).

{
  "sinks": {
    "MqttSink_cpp": {
      "inputEndpoints": [
        "inproc://can_data",
        "inproc://fusedPose_data",
        "inproc://fusedVehiclePose_data",
        "inproc://fusedVehiclePoseV2_data",
        "inproc://fusionStateInt_data",
        "inproc://globalFusedPose_data",
        "inproc://gnss_data",
        "inproc://imu_data",
        "inproc://optical_data",
        "inproc://rtcm_data",
        "inproc://vehicleSpeed_data",
        "inproc://vehicleState_data",
        "inproc://velocityMeter_data"
      ],
      "inputDataFilter": [
        "Can",
        "FusedPose",
        "FusedVehiclePose",
        "FusedVehiclePoseV2",
        "FusionStateInt",
        "GlobalFusedPose",
        "Gnss",
        "Imu",
        "Optical",
        "Rtcm",
        "VehicleSpeed",
        "VehicleState",
        "VelocityMeter"
      ],
      "settings": {}
    }
  }
}

Field reference

Field	Purpose
`inputEndpoints`	List of upstream endpoints this node connects to (`outEndpoint` / `dataEndpoint` values from upstream nodes).
`inputDataFilter`	Optional whitelist of data types. Messages whose type isn’t in the list are dropped at the subscriber.
`settings`	All user-configurable fields — see the Properties table above.

Connections can also be declared at the top-level connections array when settings.explicitConnections is true, as an alternative to filling inputEndpoints on each node.

Loading documentation…