ROS1集成NanoSDK（mqtt over quic）库&&遇到的问题-CSDN博客

本文链接：https://blog.csdn.net/John_ToStr/article/details/138525629

集成方式，demo见附件

可参考【探索 MQTT 5.0 新特性：基于 MQTTX CLI 的使用示例 | EMQ】

问题记录

1. ROS集成构建问题：如下图，少了依赖库导致未定义的符号

2. 订阅失败：原因

    virtual bool Connect() {
        m_quic_client.set_callbacks(this);

        Property cp;
        cp.append_u32(MAXIMUM_PACKET_SIZE, 120)
            .append_u32(SESSION_EXPIRY_INTERVAL, 120)
            .append_u16(RECEIVE_MAXIMUM, 120)
            .append_u32(MAXIMUM_PACKET_SIZE, 120);
            // .append_u16(TOPIC_ALIAS_MAXIMUM, 120);

        m_cmsg.client_id(m_topic)
            .user_name("emqx")
            .password("emqx1234")
            .clean_session(false)
            .keep_alive(60)
            .proto_version(5)
            .will_topic("abc")
            .will_msg((uint8_t*)"abc", 3)
            .property(cp);

        try {
            ROS_INFO("CAICloudMqttOverQuic::Connecting to MQTT server: %s: %s", m_server_address.c_str(), m_port.c_str());
            m_quic_client.connect(m_cmsg);
            ROS_INFO("CAICloudMqttOverQuic::Connected to MQTT server success!");
            
            // 这几行代码导致订阅失败
            Property pp;
            std::string payload = GetMacAddr("eth0") + " online!";
            pp.append_strpair(USER_PROPERTY, "key", "val");
            pp.append_u16(TOPIC_ALIAS, 10);

            m_pmsg.dup(false)
                .payload((uint8_t *)payload.c_str(), payload.length())
                .property(pp)
                .qos(2);
            m_quic_client.publish(m_pmsg);
	        ROS_INFO("CAICloudMqttOverQuic::pub to topic success!");
        }
        catch (const mqtt::exception& ex) {
            ROS_ERROR("CAICloudMqttOverQuic::Failed to connect to MQTT server: %s", ex.what());
            Close();
            return false;
        }

        SubMessage::topics topics = {
            {m_topic, 2}
        };

        m_smsg.topic_with_qos(topics);
        m_quic_client.subscribe(m_smsg);
	    ROS_INFO("CAICloudMqttOverQuic::subscribe topic [%s] success!", m_topic.c_str());

        return true;
    }