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you can ingest from kafka , the pattern I know of is mqtt->kafka->druid. https://druid.apache.org/docs/latest/development/extensions-core/kafka-ingestion.html

sorry. I mean ingest data directly from MQTT server (without using Kafka)

Ingestion methods are documented here, MQTT is not one of them: https://druid.apache.org/docs/latest/ingestion/index.html#ingestion-methods