OpenMORA

Parameter	Description
`enable_TLS_security`	Use TLS security layer to connect to MQTT broker
`IP`	The IP address of the MQTT broker
`laserScanRate`	If sendLaserScans=yes, the rate (Hz) of sendign the laser scans
`laserScanResolution`	If sendLaserScans=yes, the resolution (%) of samples from the laser scan
`localizationRate`	The rate (Hz) of sendign the localization to the Pilot client
`password`	The password to connect to the MQTT broker
`PORT`	The PORT of the MQTT broker
`robotID`	The unique identifier of the robot (common parameter).
`sendLaserScans`	Yes/No send laser scans to Pilot client
`TLS_CAfile_pem`	Name of the CAfile
`TLS_CERTfile_pem`	Name of the Certificate file
`TLS_KEYfile_pem`	Name of the key file
`TLS_path`	The path to the TLS certificates
`user`	The username to connect to the MQTT broker (new sesion). It is the asigned name to the Robot, e.g: Robot_ES4

Module name	Short description	Publishes	Subscribes
MQTTMosquitto	Module to enable the communication between OpenMORA and a MQTT client.	ADD_ARC , ADD_NODE , CANCEL_NAVIGATION , CHANGE_NODE_LABEL , CLIENT_MQTT_ACK , COLLABORATIVE_REQUEST , GET_NODE_POSITION , GO_TO_NODE , GO_TO_RECHARGE , LOAD_GRAPH , LOGGER_START , LOGGER_STOP , MOTION_REQUEST , MOVE_NODE , MQTT_CONNECT_STATUS , NAVIGATE_TARGET , RANDOM_NAVIGATOR , RELOCALIZE_IN_AREA , REMOVE_ARC , REMOVE_NODE , ROBOT_ID , SAVE_GRAPH , SAVE_RAWLOG , TILT_SET_ANGLE_FROM_HOME , TILT_SET_ANGLE_FROM_HOME:	BATTERY_IS_CHARGING , BATTERY_MANAGER_IS_CHARGING , BATTERY_V_FLOAT , CANCEL_NAVIGATION , COLLABORATIVE , ERROR_MSG , GET_PATH , GRAPH , LASER1 , LOCALIZATION , PARKING , RANDOM_NAVIGATOR , ROBOT_CONTROL_MODE , ROBOT_TOPOLOGICAL_PLACE , SHUTDOWN , TILT_CURRENT_ANGLE_FROM_HOME , TOPOLOGICAL_DESTINY