**Abbreviations**

acts as the MQTT broker, and the nodes, which act as the clients. As o MQTT, ROS controls the data ow through the topics that are coordinated by the master [20]. The main difference between ROS and MQTT, in terms of communication, is the fact that broker has topics with defined typing, that is, a topic will be created with a

The Authors in [20], presented an implementation of MQTT integrated to ROS, showing the feasibility of using this protocol in the 4.0 industry scenario. [21] cited

In [22] the authors made a comparison between the AMQP (Advanced Message Queuing Protocol) and MQTT protocols, in the context of a smart factory environment, with ROS also being used in some applications that required a more complex

In [23], The authors proposed os the implementation of internet technology for

monitor and control industrial amr robot in industry. Was made a web-based interface for monitor motion and controlling the angle of joint arm robot in a ROS industrial simulation environment, using the mqtt protocol to communicate between the robot and the client, give low latency data transmission.

single type and will receive subscribers and publishers of this type only.

in [20], evidence the use of ROS in comparison with a traditional solution

(**Figure 14**).

**Figure 14.** *AMQP architecture.*

**168**

**Figure 13.**

*Proposed architecture. Source: [17].*

*Robotics Software Design and Engineering*

and heterogeneous environment.


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