.. index:: pair: page; NRP Connectors Schema
.. _doxid-nrp_connectors_schema:

NRP Connectors Schema
=====================

This schema is a collection of sub-schemas defining configuration parameters for the possible connections to external middlewares that can be established by NRPCoreSim.

When one of these sub-schemas is present in the :ref:`Simulation Schema <doxid-simulation_schema>`, NRPCore will attempt to connect to the corresponding middleware using the given parameters. For each of these sub-schemas there is a corresponding parameter in the Simulation Schema, check :ref:`there <doxid-simulation_schema>` for more details.

Supported middlewares are ROS and MQTT:



.. _doxid-nrp_connectors_schema_1ros_connector_schema_parameters:

ROSNode Parameters
~~~~~~~~~~~~~~~~~~

========  ====================  ======  ========  ========  =====  
Name      Description           Type    Default   Required  Array  
========  ====================  ======  ========  ========  =====  
NodeName  Name of the ROS node  string  nrp_core                   
========  ====================  ======  ========  ========  =====





.. _doxid-nrp_connectors_schema_1mqtt_connector_schema_parameters:

MQTTClient Parameters
~~~~~~~~~~~~~~~~~~~~~

==========  ===================  ======  ===============  ========  =====  
Name        Description          Type    Default          Required  Array  
==========  ===================  ======  ===============  ========  =====  
MQTTBroker  MQTT Broker address  string  localhost:1883                    
ClientName  MQTT client name     string  NRP-core-client                   
==========  ===================  ======  ===============  ========  =====





.. _doxid-nrp_connectors_schema_1nrp_connectors_schema_example:

Example
~~~~~~~

Below is listed an example experiment configuration connecting to both ROS and MQTT.

.. ref-code-block:: cpp

	{
	    "SimulationName": "test_sim",
	    "SimulationDescription": "Just connecting to ROS and MQTT",
	    "SimulationTimeout": 1,
	    "MQTTNode": {"ClientName": "myMQTTclient"},
	    "ROSNode": {"NodeName": "myROSnode"}
	}





.. _doxid-nrp_connectors_schema_1nrp_connectors_schema_schema:

Schema
~~~~~~

.. ref-code-block:: cpp

	{
	  "MQTTClient": {
	    "$schema": "http://json-schema.org/draft-07/schema#",
	    "title": "MQTT Client",
	    "description": "MQTT Client configuration properties",
	    "$id": "#MQTTClient",
	    "type": "object",
	    "properties" : {
	      "MQTTBroker" : {
	        "type" : "string",
	        "description": "MQTT Broker address",
	        "default" : "localhost:1883"
	      },
	      "ClientName" : {
	        "type" : "string",
	        "description": "MQTT client name",
	        "default" : "NRP-core-client"
	      }
	    }
	  },
	  "ROSNode": {
	    "$schema": "http://json-schema.org/draft-07/schema#",
	    "title": "ROS Node",
	    "description": "ROS Node configuration parameter",
	    "$id": "#ROSNode",
	    "type": "object",
	    "properties" : {
	      "NodeName" : {
	        "type" : "string",
	        "description": "Name of the ROS node",
	        "default" : "nrp_core"
	      }
	    }
	  }
	}